CN107218911B - Measuring method for tool installation size of tunnel boring machine - Google Patents

Abstract

The invention discloses a method for measuring the installation size of a tunnel boring machine tool, which includes the following steps: S1. Install a first reflective sheet on the panel of the cutter head, define the center point of the first reflective sheet and record it as M, and use the total station The instrument measures the three-dimensional coordinate values of the center point O of the cutter head panel and the center point M of the first reflective sheet; S2, install a second reflective sheet on the positioning point of the tool to be measured, and define the second reflection The central point of the sheet is also marked as A, and the three-dimensional coordinate value of the central point A of the second reflective sheet is measured using the total station; S3, applying the spatial analytic geometry method to the central point M of the first reflective sheet The three-dimensional coordinate values of the center point O of the cutter head panel and the center point A of the second reflective sheet are combined and calculated to obtain the installation size data of the tool to be measured. This method is applicable to tool measurement under different installation or use states, the measurement result has high precision, the measurement efficiency can be improved, and the measurement cost can be reduced.

Description

Measuring method for tool installation size of tunnel boring machine

technical field

The invention relates to the technical field of measuring a cutting tool of a tunnel boring machine, in particular to a method for measuring the installation size of a cutting tool of a tunnel boring machine.

Background technique

In construction projects such as mountain roads and subways, tunnel boring machines are widely used for road construction. Various rock-breaking tools are installed on the cutter head of the tunnel boring machine, mainly including disc hobs and various fixed cutters. especially important. How to check whether various knives are accurately installed and positioned according to the dimensional data of the design drawings is an important problem faced in the factory inspection process of cutterheads and knives.

At present, the more commonly used inspection method is to use a specially customized template ruler for measurement. The measurement principle is roughly as follows: according to the design installation position of each tool, the tool outline groove and size scale are carved on the template, and then the template bracket is fixed on the center of the cutter head, and the template can rotate around the center of the cutter head. The installation and positioning dimensional error of each tool is measured by comparing the gap between the size scale and the contour of the corresponding tool on the cutter head.

The advantage of this method is that it is intuitive and the measurement results are clear at a glance, but its disadvantage is that it needs to process special template gauges according to different tool layout schemes, resulting in increased measurement costs, and a large number of template gauges is not conducive to storage management; in addition , this traditional measurement method is generally used when the tool is positioned and installed in the factory, that is, it is used before the cutter head and the shield body are assembled (the cutter head is placed horizontally), the installation measurement error is large, and it is difficult for shield machine users , after the cutter head is installed, it is difficult to use this method to detect and check the installation size of the cutter, so its versatility is not high.

Contents of the invention

Based on this, it is necessary for the present invention to provide a method for measuring the installation dimension of the tunnel boring machine tool, which can improve the accurate measurement of the installation and positioning dimension of the tunnel boring tool, with high accuracy of measurement results, good versatility, and low measurement cost.

Its technical scheme is as follows:

A method for measuring the installation size of a tunnel boring machine tool, comprising the following steps:

S1. Install the first reflection sheet on the cutter head panel, define the center point of the first reflection sheet as M, and measure the three-dimensionality of the center point O of the cutter head panel and the center point M of the first reflection sheet coordinate value;

S2. Install a second reflector on the positioning point of the tool to be tested, define the center point of the second reflector as A, and measure the three-dimensional coordinate value of the center point A of the second reflector;

S3. Combining and calculating the three-dimensional coordinate values of the center point M of the first reflective sheet, the central point O of the cutter head panel, and the central point A of the second reflective sheet by using the spatial analytic geometry method, and obtain Measure the installation size data of the tool.

In the method for measuring the installation size of the cutter of the tunnel boring machine, the first reflective sheet is installed on the cutter head panel, and then the three-dimensional coordinate values of the center point O of the cutter head panel and the center point M of the first reflective sheet are obtained by measuring with a total station, Then install the second reflector on the positioning point of the tool to be tested, and use the total station to measure the three-dimensional coordinates of the center point A of the second reflector, and finally apply the spatial analytic geometry method to the coordinates of the three center points Values are combined and calculated, so that the installation size data of the tool to be tested can be obtained. In this way, not only can it avoid making special template rulers for different tools, it can greatly reduce the cost of measurement, and at the same time, this measurement method can be applied to the measurement of tools in different installation or use states, so it has good versatility and good measurement accuracy , the test result has high precision, which provides guarantee for the adjustment and correction of the installation size of the tunneling tool.

The technical scheme of the present application is described further below:

In one of the embodiments, in step S1 to measure the three-dimensional coordinates of the center point O of the cutter head panel, the cutter head is rotated three times at every 120 degrees as the rotation angle, and the total station is used to measure the cutter head for each rotation of 120 degrees The three-dimensional coordinates of the central point of the first reflective sheet are recorded as M1 (x _m1 , y _m1 , z _m1 ), M ₂ (x _m2 , y _m2 , z _m2 ), M ₃ (x _m3 , y m2 ) respectively. _m3 , z _m3 ), a circumscribed circle is determined by the points M ₁ , M ₂ and M ₃ , and the center of the circumscribed circle is the center point O of the cutter head panel.

In one of the embodiments, the analytic geometry calculation method of the three-dimensional coordinates of the center point O of the cutterhead panel is: define the coordinates of the center point O of the cutterhead panel as (x _o , y _o , z _o ) , the radius of the circumscribed circle is R _m , and the plane equation is determined by the coordinates of M ₁ , M ₂ , and M ₃ :

Expand and transform the above formula to get:

A ₁ x+B ₁ y+C ₁ z+D ₁ =0 (2)

in:

A ₁ =y _m1 z _m2 -y _m1 z _m3 -z _m1 y _m2 +y _m3 z _m1 +y _m2 z _m3 -y _m3 z _m2

B ₁ ＝-x _m1 z _m2 +x _m1 z _m3 +x _m2 z _m1 -x _m3 z _m1 -x _m2 z _m3 +x _m3 z _m2

C ₁ ＝x _m1 y _m2 -x _m1 y _m3 -x _m2 y _m1 +x _m3 y _m1 +x _m2 y _m3 -x _m3 y _m2

D ₁ ＝-x _m1 y _m2 z _m3 +x _m1 y _m3 z _m2 +x _m2 y _m1 z _m3 -x _m3 y _m1 z _m2 -x _m2 y _m3 z _m1 +x _m3 y _m2 z _m1

Substitute the center coordinates (x _o , y _o , z _o ) into formula (2):

A ₁ x _o +B ₁ y _o +C ₁ z _o +D ₁ =0 (3)

According to the distances from point O to point M in the center of the circle, the distances between the three different positions are all equal:

From (5)-(4):

Note that A ₂ =2(x _m2 -x _m1 ); B ₂ =2(y _m2 -y _m1 ); C ₂ =2(z _m2 -z _m1 );

Then the above formula simplifies to:

A ₂ x _o +B ₂ y _o +C ₂ z _o +D ₂ =0 (7)

From (6)-(4):

Note that A ₃ =2(x _m3 -x _m1 ); B ₃ =2(y _m3 -y _m1 ); C ₃ =2(z _m3 -z _m1 );

Then the above formula simplifies to:

A ₃ x _o +B ₃ y _o +C ₃ z _o +D ₃ =0 (8)

Formula (3), formula (7) and formula (8) form a ternary linear equation system about (x _o , y _o , z _o ), expressed in matrix form as:

The three-dimensional coordinates (x _o , y _o , z _o ) of the center point O of the cutterhead panel can be obtained by solving this system of equations:

The radius of the circle can be obtained by substituting the coordinates of the center of the circle obtained from the above formula into formula (4):

The plane equation (2) of the cutter head panel and the three-dimensional coordinates (x _o , y _o , z _o ) of the center point O of the cutter head panel are obtained above, and the rotation axis of the cutter head is the plane method passing through the rotation center point of the cutter head line, so the straight line equation of the cutter head rotation axis is:

In one of the embodiments, step S3 calculates the installation size data of the tool to be measured including calculating the installation radius Ra of the tool to be measured, and sets the three-dimensional coordinates of the positioning point A of the tool to be measured as (x _a , y _a , z _a ), then the vertical distance from this point to the central axis of rotation of the cutter head panel is the installation radius Ra of the tool to be measured, and the calculation formula for the installation radius Ra is:

In one of the embodiments, the calculation of the installation size data of the tool to be tested in step S3 also includes calculating the installation height H _a of the tool to be tested, wherein the vertical distance from the positioning point A of the tool to be tested to the cutter head panel is The installation height H _a of the tool to be measured is obtained according to the distance formula from the point in the space to the plane:

In one of the embodiments, the calculation of the installation dimension data of the tool to be measured in step S3 also includes calculating the azimuth angle θ _a of the tool to be measured, and when the cutterhead panel is rotated to the angle θ, the total station measures the The three-dimensional coordinates of the positioning point A of the measuring tool are (x _a , y _a , z _a ), and the three-dimensional coordinates of the central point M of the first reflector are (x _m , y _m , z _m ); The projection point of the positioning point A of the measuring tool on the cutter head panel along the central axis direction of the cutter head panel is A', and the direction vector of the rotation axis of the cutter head panel is (A ₁ , B ₁ , C ₁ ) , the vertical distance from the positioning point A of the tool to be tested to the cutter head panel is H _a , then according to the linear equation (12) of the cutter head rotation axis, the three-dimensional coordinates of point A' can be obtained as (x _a +H _a A ₁ , y _a + H _a B ₁ , z _a + H _a C ₁ );

Define the line connecting point O and point M as the X axis, then the direction vector of the X axis is (x _o -x _m , y _o -y _m , z _o -z _m ), and the direction vector of the line connecting point O and point A' It is (x _a -x _o +H _a A ₁ , y _a -y _o +H _a B ₁ , z _a -z _o +H _a C ₁ ), record x _a '=x _a -x _o +H _a A ₁ ; y _a '=y _a -y _o +H _a B ₁ ; z _a ' ₌ za -z _o +H _a C ₁ , then the angle between the straight line OA' and the X axis is the orientation of tool A Angle θ _a , according to the angle formula of two straight lines in space:

In one of the embodiments, the step S1 also includes the step of defining a measuring coordinate system, that is, defining the center axis of rotation of the cutter head panel as the Z axis and positive along the direction of excavation; defining the center point O of the cutter head panel The line connecting the center point M of the first reflective sheet is the X axis, and the outward direction along the center of the cutter head panel is positive; define the vertical direction of the center point O of the cutter head panel perpendicular to the X axis. The line is the Y axis and is positive along the center outward of the cutterhead faceplate.

Description of drawings

Fig. 1 is a flow chart of the steps of the method for measuring the installation size of a tunnel boring machine tool according to an embodiment of the present invention.

Detailed ways

In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific implementation methods. It should be understood that the specific embodiments described here are only used to explain the present invention, and do not limit the protection scope of the present invention.

It should be noted that when an element is referred to as being “fixed on”, “disposed on” or “installed on” another element, it may be directly on the other element or there may be an intervening element. When an element is considered to be "connected" to another element, it may be directly connected to the other element or there may be an intervening element at the same time; the specific way that one element is fixedly connected to another element can be realized through existing technologies, and will not be discussed here. To repeat it again, it is preferable to adopt a fixing method of threaded connection.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field of the invention. The terminology used herein in the description of the present invention is only for the purpose of describing specific embodiments, and is not intended to limit the present invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

The "first" and "second" mentioned in the present invention do not represent specific numbers and sequences, but are only used to distinguish names.

As shown in Figure 1, the method for measuring the installation size of a tunnel boring machine tool according to an embodiment of the present invention includes the following steps:

S1. Install the first reflective sheet on the cutterhead panel, define the center point of the first reflective sheet as M, and use a total station to measure the center point O of the cutterhead panel and the center of the first reflective sheet The three-dimensional coordinate value of point M;

S2. Install a second reflector on the positioning point of the tool to be measured, define the center point of the second reflector as A, and use the total station to measure the three-dimensional coordinates of the center point A of the second reflector value;

S3. Combining and calculating the three-dimensional coordinate values of the center point M of the first reflective sheet, the central point O of the cutter head panel, and the central point A of the second reflective sheet by using the spatial analytic geometry method, and obtain Measure the installation size data of the tool.

In the method for measuring the installation size of the cutter of the tunnel boring machine, the first reflective sheet is installed on the cutter head panel, and then the three-dimensional coordinate values of the center point O of the cutter head panel and the center point M of the first reflective sheet are obtained by measuring with a total station, Then install the second reflector on the positioning point of the tool to be tested, and use the total station to measure the three-dimensional coordinates of the center point A of the second reflector, and finally apply the spatial analytic geometry method to the coordinates of the three center points Values are combined and calculated, so that the installation size data of the tool to be tested can be obtained. In this way, not only can it avoid making special template rulers for different tools, it can greatly reduce the cost of measurement, and at the same time, this measurement method can be applied to the measurement of tools in different installation or use states, so it has good versatility and good measurement accuracy , the test result has high precision, which provides guarantee for the adjustment and correction of the installation size of the tunneling tool.

It should be noted that in the above embodiments, the positioning points of the tools to be tested are specifically the reference points corresponding to the installation and positioning dimension boundary lines of various tools in the roadheader tool layout trajectory diagram, and the positioning points of various tools are generally set on the cutting edge on the symmetry points or feature points. In addition, the installation and positioning dimensions of the tool generally include the installation radius, installation height, azimuth angle, and tool side tilt angle, etc.; among them, the tool installation radius: the distance between the tool positioning point (the hob tip or the midpoint of the cutting edge) and the center axis of the cutter head rotation vertical distance (mm); tool installation height: the vertical distance between the tool positioning point and the cutter head panel (mm); tool azimuth: the angle between the tool positioning point and the center line of the cutter head and the X-axis; the X-axis direction is 0°, the counterclockwise direction is positive; tool side tilt angle: the angle between the symmetry axis of the tool itself and the axis of rotation of the cutter head. Further, the first reflective sheet and the second reflective sheet may be transparent plastic sheets, and the plastic sheet is provided with a "+" mark, which is convenient for the marking positioning function of the total station measurement, and is conducive to improving the convenience and accuracy of the measurement. sex. Moreover, step S1 also includes the step of defining a measurement coordinate system, that is, defining the rotation central axis of the cutterhead panel as the Z axis and positive along the driving direction; defining the center point O of the cutterhead panel and the first The line connecting the center point M of the reflector is the X axis, and the outward direction along the center of the cutter head panel is positive; the vertical line defining the center point O of the cutter head panel perpendicular to the X axis is the Y axis, And the outward direction along the center of the cutter head panel is positive. In this way, a scientific coordinate system can be provided for the measurement method and system, thereby providing a guarantee for the subsequent measurement of the coordinate value of a center point.

In addition, in the step S1 of measuring the three-dimensional coordinates of the center point O of the cutterhead panel, the cutterhead is rotated three times at every 120 degrees as the rotation angle, and a total station is used to measure the first rotation of the cutterhead after each rotation of 120 degrees. The three-dimensional coordinates of the center point of a reflector are recorded as M1 (x _m1 , y _m1 , z _m1 ), M ₂ (x _m2 , y _m2 , z _m2 ), M ₃ (x _m3 , y _m3 , z _m3 ) , a circumscribed circle is determined by the points M ₁ , M ₂ and M ₃ , and the center of the circumscribed circle is the center point O of the cutter head panel. Among them, multiple measurement methods are used to obtain the three-dimensional coordinate values of multiple first reflectors, and then the center point O of the cutterhead panel is obtained through the formed circumscribed circle, which effectively improves the positioning accuracy of the center point O, thereby ensuring the accuracy of subsequent measurements . Of course, the above-mentioned rotation angle can fluctuate up and down based on 120 degrees, such as 118 degrees or 122 degrees, or in other embodiments, it can also be other rotation angles, which are also within the protection scope of the present application.

Further, the analytical geometry calculation method of the three-dimensional coordinate value of the center point O of the cutterhead panel is: define the coordinates of the center point O of the cutterhead panel as (x _o , y _o , z _o ), and the circumscribed The radius of the circle is R _m , and the plane equation is determined by the three-point coordinates of M ₁ , M ₂ , and M ₃ :

Expand and transform the above formula to get:

A ₁ x+B ₁ y+C ₁ z+D ₁ =0 (2)

in:

A ₁ =y _m1 z _m2 -y _m1 z _m3 -z _m1 y _m2 +y _m3 z _m1 +y _m2 z _m3 -y _m3 z _m2

B ₁ ＝-x _m1 z _m2 +x _m1 z _m3 +x _m2 z _m1 -x _m3 z _m1 -x _m2 z _m3 +x _m3 z _m2

C ₁ ＝x _m1 y _m2 -x _m1 y _m3 -x _m2 y _m1 +x _m3 y _m1 +x _m2 y _m3 -x _m3 y _m2

D ₁ ＝-x _m1 y _m2 z _m3 +x _m1 y _m3 z _m2 +x _m2 y _m1 z _m3 -x _m3 y _m1 z _m2 -x _m2 y _m3 z _m1 +x _m3 y _m2 z _m1

Substitute the center coordinates (x _o , y _o , z _o ) into formula (2):

A ₁ x _o +B ₁ y _o +C ₁ z _o +D ₁ =0 (3)

According to the distances from point O to point M in the center of the circle, the distances between the three different positions are all equal:

From (5)-(4):

Note that A ₂ =2(x _m2 -x _m1 ); B ₂ =2(y _m2 -y _m1 ); C ₂ =2(z _m2 -z _m1 );

Then the above formula simplifies to:

A ₂ x _o +B ₂ y _o +C ₂ z _o +D ₂ =0 (7)

From (6)-(4):

Note that A ₃ =2(x _m3 -x _m1 ); B ₃ =2(y _m3 -y _m1 ); C ₃ =2(z _m3 -z _m1 );

Then the above formula simplifies to:

A ₃ x _o +B ₃ y _o +C ₃ z _o +D ₃ =0 (8)

Formula (3), formula (7) and formula (8) form a ternary linear equation system about (x _o , y _o , z _o ), expressed in matrix form as:

The three-dimensional coordinates (x _o , y _o , z _o ) of the center point O of the cutterhead panel can be obtained by solving this system of equations:

The radius of the circle can be obtained by substituting the coordinates of the center of the circle obtained from the above formula into formula (4):

The plane equation (2) of the cutter head panel and the three-dimensional coordinates (x _o , y _o , z _o ) of the center point O of the cutter head panel are obtained above, and the rotation axis of the cutter head is the plane method passing through the rotation center point of the cutter head line, so the straight line equation of the cutter head rotation axis is:

Through the above calculation steps, the coordinate value of the center point O of the cutter head panel can be accurately calculated, and the method is simple to apply and has good versatility.

On the basis of any of the above-mentioned embodiments, the calculation of the installation size data of the tool to be measured in step S3 includes calculating the installation radius Ra of the tool to be measured, and setting the three-dimensional coordinates of the positioning point A of the tool to be measured as (x _a , y _a , z _a ), then the vertical distance from this point to the central axis of rotation of the cutterhead panel is the installation radius Ra of the tool to be measured, and the calculation formula for the installation radius Ra is:

In this way, the installation radius of the tool to be tested on the cutter head can be quickly and accurately calculated, and the test result has high accuracy. At the same time, the method is not limited by the type of tool and the installation state, and has good versatility.

In addition, the calculation of the installation size data of the tool to be tested in step S3 also includes calculating the installation height H _a of the tool to be tested, wherein the vertical distance from the positioning point A of the tool to be tested to the cutter head panel is the installation height of the tool to be tested The height H _a is obtained according to the distance formula from a point to a plane in space:

In this way, the installation height of the tool to be tested on the cutter head can be quickly and accurately calculated, and the test result has high accuracy. At the same time, the method is not limited by the type of tool, tool installation or use status, and has good versatility.

In the further measurement step, the calculation of the installation size data of the tool to be measured in step S3 also includes calculating the azimuth angle θ _a of the tool to be measured, and when the cutterhead panel is rotated to the angle θ, the total station is used to measure the The three-dimensional coordinates of the positioning point A of the measuring tool are (x _a , y _a , z _a ), and the three-dimensional coordinates of the central point M of the first reflector are (x _m , y _m , z _m ); The projection point of the positioning point A of the measuring tool on the cutter head panel along the central axis direction of the cutter head panel is A', and the direction vector of the rotation axis of the cutter head panel is (A ₁ , B ₁ , C ₁ ) , the vertical distance from the positioning point A of the tool to be tested to the cutter head panel is H _a , then according to the linear equation (12) of the cutter head rotation axis, the three-dimensional coordinates of point A' can be obtained as (x _a +H _a A ₁ , y _a + H _a B ₁ , z _a + H _a C ₁ );

Define the line connecting point O and point M as the X axis, then the direction vector of the X axis is (x _o -x _m , y _o -y _m , z _o -z _m ), and the direction vector of the line connecting point O and point A' It is (x _a -x _o +H _a A ₁ , y _a -y _o +H _a B ₁ , z _a -z _o +H _a C ₁ ), record x _a '=x _a -x _o +H _a A ₁ ; y _a '=y _a -y _o +H _a B ₁ ; z _a ' ₌ za -z _o +H _a C ₁ , then the angle between the straight line OA' and the X axis is the orientation of tool A Angle θ _a , according to the angle formula of two straight lines in space:

The azimuth angle of the tool to be tested on the cutter head can be quickly and accurately calculated through the above method and formula, and the test result has high accuracy. At the same time, the method is not limited by the type of tool, tool installation or use status, and has good versatility.

The various technical features of the above-mentioned embodiments can be combined arbitrarily. To make the description concise, all possible combinations of the various technical features in the above-mentioned embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, should be considered as within the scope of this specification.

The above-mentioned embodiments only express several implementation modes of the present invention, and the descriptions thereof are relatively specific and detailed, but should not be construed as limiting the patent scope of the invention. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent for the present invention should be based on the appended claims.

Claims (10)

1. a kind of rock tunnel(ling) machine Cutting tool installation manner dimension measurement method, which comprises the steps of:

S1, the first reflector plate is installed on cutter head panel, the central point for defining first reflector plate is M, measures the knife The D coordinates value of the central point M of the central point O of disk plate and first reflector plate；

S2, the second reflector plate is installed on the anchor point of cutter to be measured, the central point for defining second reflector plate is A, measurement The D coordinates value of the central point A of second reflector plate out；

S3, application space analytic geometry method to the central point O of the central point M of first reflector plate, the cutter head panel with And the D coordinates value of the central point A of second reflector plate is combined calculating, obtains the installation dimension data of cutter to be measured.

2. rock tunnel(ling) machine Cutting tool installation manner dimension measurement method according to claim 1, which is characterized in that surveyed in step S1 Measure in the D coordinates value of central point O of the cutter head panel, with every 120 degree for rotational angle rotary head three times, and with entirely Instrument of standing measures the three-dimensional coordinate of the central point of first reflector plate after cutterhead rotates 120 degree every time and is denoted as M1 respectively (x_m1, y_m1, z_m1)、M₂(x_m2, y_m2, z_m2)、M₃(x_m3, y_m3, z_m3), by point M₁、M₂And M₃Determine a circumscribed circle, then the circumscribed circle The center of circle be the cutter head panel central point O.

3. rock tunnel(ling) machine Cutting tool installation manner dimension measurement method according to claim 2, which is characterized in that the cutterhead face The analytic geometry calculation method of the D coordinates value of the central point O of plate are as follows: the coordinate for defining the central point O of the cutter head panel is (x_o, y_o, z_o), the radius of the circumscribed circle is R_m, by M₁、M₂、M₃3 coordinates determine plane equation:

Above formula expansion transformation is obtained:

A₁x+B₁y+C₁z+D₁=0 (2)

Wherein:

A₁=y_m1z_m2-y_m1z_m3-z_m1y_m2+y_m3z_m1+y_m2z_m3-y_m3z_m2

B₁=-x_m1z_m2+x_m1z_m3+x_m2z_m1-x_m3z_m1-x_m2z_m3+x_m3z_m2

C₁=x_m1y_m2-x_m1y_m3-x_m2y_m1+x_m3y_m1+x_m2y_m3-x_m3y_m2

D₁=-x_m1y_m2z_m3+x_m1y_m3z_m2+x_m2y_m1z_m3-x_m3y_m1z_m2-x_m2y_m3z_m1+x_m3y_m2z_m1

By central coordinate of circle (x_o, y_o, z_o) substitution formula (2):

A₁x_o+B₁y_o+C₁z_o+D₁=0 (3)

It is obtained according to the distance of center of circle O point to M three different locations of point is all equal:

It is obtained by (5)-(4):

Remember A₂=2 (x_m2-x_m1)；B₂=2 (y_m2-y_m1)；C₂=2 (z_m2-z_m1)；

Then above formula simplifies are as follows:

A₂x_o+B₂y_o+C₂z_o+D₂=0 (7)

It is obtained by (6)-(4):

Remember A₃=2 (x_m3-x_m1)；B₃=2 (y_m3-y_m1)；C₃=2 (z_m3-z_m1)；

Then above formula simplifies are as follows:

A₃x_o+B₃y_o+C₃z_o+D₃=0 (8)

One is formed about (x by formula (3), formula (7), formula (8)_o, y_o, z_o) ternary once linear equation group, with matrix form table It is shown as:

Three-dimensional coordinate (the x of central point O of the cutter head panel can be acquired by solving this equation group_o, y_o, z_o):

Central coordinate of circle obtained by above formula, which is substituted into formula (4), to find out radius of circle:

Three-dimensional coordinate (the x of the Plane Equation (2) of cutter head panel and the central point O of cutter head panel has been found out above_o, y_o, z_o), And cutterhead rotation axis was exactly the plane normal of cutterhead rotary middle point, therefore the linear equation of cutterhead rotary shaft are as follows:

4. rock tunnel(ling) machine Cutting tool installation manner dimension measurement method according to claim 3, which is characterized in that step S3 is calculated Include the installation radius Ra for calculating cutter to be measured in the installation dimension data of cutter to be measured, sets the anchor point A's of cutter to be measured Three-dimensional coordinate is (x_a, y_a, z_a), then the vertical range of the Pivot axle of the point to the cutter head panel is cutter to be measured Radius Ra, the calculation formula of installation radius Ra are installed are as follows:

5. rock tunnel(ling) machine Cutting tool installation manner dimension measurement method according to claim 1, which is characterized in that step S3 is calculated It further include the mounting height H for calculating cutter to be measured in the installation dimension data of cutter to be measured_a, wherein the anchor point A of cutter to be measured Vertical range to the cutter head panel is the mounting height H of cutter to be measured_a, the range formula of plane is arrived according to point in space :

6. rock tunnel(ling) machine Cutting tool installation manner dimension measurement method according to claim 5, which is characterized in that step S3 is calculated It further include the azimuth angle theta for calculating cutter to be measured in the installation dimension data of cutter to be measured_a, set cutter head panel and turn to angle, θ When, it is (x by the three-dimensional coordinate that total station measures the anchor point A of the cutter to be measured_a, y_a, z_a), first reflector plate The three-dimensional coordinate of central point M is (x_m, y_m, z_m)；Remember the anchor point A of the cutter to be measured along the central axis side of the cutter head panel It is A ' to the subpoint on cutter head panel, the direction vector of the rotation axis of the cutter head panel is (A₁, B₁, C₁), it is described to The vertical range for surveying anchor point A to the cutter head panel of cutter is H_a, then can according to the straight line equation (12) of cutterhead shaft The three-dimensional coordinate for finding out A ' point is (x_a+H_aA₁, y_a+H_aB₁, z_a+H_aC₁)；

It is X-axis by O point and M point wire definition, then X-direction vector is (x_o-x_m, y_o-y_m, z_o-z_m), O point and A ' point line Direction vector is (x_a-x_o+H_aA₁, y_a-y_o+H_aB₁, z_a-z_o+H_aC₁), remember x_a'=x_a-x_o+H_aA₁；y_a'=y_a-y_o+H_aB₁；z_a'= z_a-z_o+H_aC₁, then the angle between straight line OA ' and X-axis is the azimuth angle theta of cutter A_a, according to the angle of two straight lines in space Formula obtains:

7. rock tunnel(ling) machine Cutting tool installation manner dimension measurement method according to claim 1, which is characterized in that step S1 also Measurement coordinate system is defined including step, that is, the Pivot axle for defining the cutter head panel is Z axis and is positive along tunneling direction； The line of the central point O of the cutter head panel and central point M of first reflector plate is defined for X-axis and along the cutterhead face The center outwardly direction of plate is positive；The central point O vertical line vertical with X-axis for defining the cutter head panel is Y-axis and along described The center outwardly direction of cutter head panel is positive.

8. rock tunnel(ling) machine Cutting tool installation manner dimension measurement method according to claim 1, which is characterized in that the knife to be measured The anchor point of tool is located on the symmetric points or characteristic point of blade.

9. rock tunnel(ling) machine Cutting tool installation manner dimension measurement method according to claim 1, which is characterized in that described first is anti- It penetrates piece and second reflector plate is transparent plastic sheet.

10. rock tunnel(ling) machine Cutting tool installation manner dimension measurement method according to claim 9, which is characterized in that the plastics On piece is marked equipped with "+".