CN108005672A - A kind of horizontal correction method for planning track of TBM - Google Patents
A kind of horizontal correction method for planning track of TBM Download PDFInfo
- Publication number
- CN108005672A CN108005672A CN201711173429.0A CN201711173429A CN108005672A CN 108005672 A CN108005672 A CN 108005672A CN 201711173429 A CN201711173429 A CN 201711173429A CN 108005672 A CN108005672 A CN 108005672A
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- tbm
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- correction
- desired trajectory
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- 238000000034 method Methods 0.000 title claims abstract description 33
- 230000005641 tunneling Effects 0.000 claims abstract description 22
- 238000009412 basement excavation Methods 0.000 claims abstract description 7
- 238000006073 displacement reaction Methods 0.000 claims abstract description 5
- 239000011435 rock Substances 0.000 claims description 6
- 238000010276 construction Methods 0.000 abstract description 6
- 230000000694 effects Effects 0.000 abstract description 6
- 241001269238 Data Species 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/10—Making by using boring or cutting machines
- E21D9/11—Making by using boring or cutting machines with a rotary drilling-head cutting simultaneously the whole cross-section, i.e. full-face machines
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/003—Arrangement of measuring or indicating devices for use during driving of tunnels, e.g. for guiding machines
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Environmental & Geological Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
Abstract
The invention discloses a kind of horizontal correction method for planning track of TBM, including horizontal distance and the angle of cutterhead tunneling direction and desired trajectory that TBM cutter head centers deviate with desired trajectory 1) are obtained by TBM navigation system；2) min. turning radius in TBM excavation operations is determined；3) according to TBM cutter head centers and the horizontal distance of desired trajectory deviation, the angle and TBM min. turning radius of cutterhead tunneling direction and desired trajectory, cook up the horizontal correction tracks of the TBM being made of two sections of mutually circumscribed circular arcs, according to the horizontal correction tracks of the TBM, the horizontal correction of TBM tunings completion is controlled by controlling the displacement of TBM horizontal support oil cylinders.The horizontal correction track that the present invention designs can to avoid or reduce hole wall tuning and the change formed or faulting of slab ends, pass through selected suitable correction arc locus radius, TBM is set to return to as early as possible on design route to improve construction quality, to reach the effect of efficient, the accurate construction operations of TBM.
Description
Technical field
The present invention relates to tunneling boring hard rock mole (Tunnel Boring Machine, abbreviation TBM) technical field, tool
Body is related to a kind of horizontal correction method for planning track of TBM.
Background technology
Extensive use of the tunneling boring hard rock mole in various constructing tunnels in recent years, due to Open TBM directionality
It is poor with stability, and by country rock it is soft or hard it is unequal influence, in linear advancement operation, it may appear that deviate showing for desired trajectory
As this can cause the tunnel of excavation second-rate, or even cannot meet engine request.Therefore track correction becomes improves operation
, there is trajector deviation, TBM navigation system during excavation operation in the main problem that efficiency, precision and construction quality are faced
Interface can provide correction track of making a return voyage for driver, and present correction method for planning track mainly has the minimum method of principal axes and relevant of turning to
Geometry parabola method, two methods cannot reach preferable tuning effect, Dong Bishang occur strongly avoid because of tuning
And the change formed and faulting of slab ends., must since the radius for arc locus of rectifying a deviation is less than TBM min. turning radius during correction
Deflection method must be used, also can occur changing on the wall of hole and faulting of slab ends.The change and faulting of slab ends that hole wall occurs during tuning can be serious
The part contacted in infringement TBM with hole wall.So just need when laser target spot exceeds setting range in TBM navigation system, root
According to the deviation data (position and direction) of TBM, the more excellent correction track of tuning effect is cooked up, avoids or reduce as possible hole wall tuning
And the change formed or faulting of slab ends, TBM is returned to as early as possible on design route to improve construction quality, to reach TBM efficiently, precisely apply
The effect for the industry that works.
The content of the invention
For the prior art, the present invention provides a kind of horizontal correction method for planning track of TBM, hole wall is avoid or reduced
Tuning and the change formed or faulting of slab ends.
In order to solve the above-mentioned technical problem, the horizontal correction method for planning track of a kind of TBM proposed by the present invention, so as to fulfill
TBM is quickly returning to desired trajectory, and specific method is that tunneling boring hard rock mole includes horizontal support oil cylinder and TBM navigation system；
The horizontal correction tracks of TBM are made of mutually circumscribed circular arc BC and circular arc C D, wherein, B points are the starting point of correction track, that is, are existed
The horizontal distance that TBM cutter head centers deviate with desired trajectory is e and cutterhead tunneling direction is with desired trajectory angleWhen TBM knives
The position of disk center, C points are the point of contact of circular arc BC and circular arc C D, and D points are the terminal of correction track；Circular arc BC is in B points and TBM knives
Disk front vertical, circular arc C D are tangent in D points and desired trajectory；
And comprise the following steps：
Step 1: when the laser target target spot in TBM navigation system exceeds setting range, obtained by TBM navigation system
The horizontal distance e and the angle of cutterhead tunneling direction and desired trajectory that TBM cutter head centers deviate with desired trajectory
Step 2: determine min. turning radius R in TBM excavation operationsmin：
In TBM driving distances s, while knife amount of movement≤while knife movement limits value △ a, i.e.,
Abbreviation is：
Formula (1) is in formula (2)：It is side knife amount of movement, R is TBM radiuss of turn, so that it is determined that TBM is most
Tight turn radius Rmin,
Step 3: the horizontal distance e deviateed according to TBM cutter head centers and desired trajectory, cutterhead tunneling direction and pre- orbit determination
The angle of markAnd TBM min. turning radius Rmin, the horizontal correction tracks of TBM are cooked up,
Formula (3) and formula (4), R1For the radius of circular arc BC in correction track, R2For the radius of circular arc C D in correction track, θ1
For the central angle of circular arc BC in correction track, θ2For correction track in circular arc C D central angle,
And meet
Ri≥RminI=1,2 (5).
Further, in the horizontal correction method for planning track of TBM of the present invention, the driving distance of the horizontal correction is l
L=R1θ1+R2θ2 (6)。
The horizontal correction tracks of TBM cooked up according to step 3, by control the displacement of the horizontal support oil cylinder and then
TBM tunings are controlled to complete horizontal correction.
Control TBM tunings are carried out using phase cutting method, i.e., are controlled in tunneling process in TBM cutter head centers line and desired trajectory
Heart line is tangent.
Compared with prior art, the beneficial effects of the invention are as follows：
Since the correction track designed in the method for the present invention is made of two sections of mutually circumscribed circular arcs, and arc locus of rectifying a deviation
Radius be more than TBM min. turning radius Rmin, phase cutting method can be used and avoid defect caused by deflection method；The present invention
Planned trajectory is round and smooth, avoid or reduce hole wall tuning and the change formed or faulting of slab ends.Present invention correction can pass through in track
Selected suitable correction arc locus radius, makes TBM return to as early as possible on design route to improve construction quality, to reach TBM high
Effect, the effect of accurate construction operation.
Brief description of the drawings
Fig. 1 is the horizontal correction trajectory planning schematic diagrames of TBM of the present invention；
Fig. 2 is the horizontal correction tracks of TBM in the embodiment of the present invention.
Embodiment
Technical solution of the present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings, it is described specific
Embodiment is only explained the present invention, is not intended to limit the invention.
The horizontal correction method for planning track of a kind of TBM proposed by the present invention, tunneling boring hard rock mole include cutterhead, level
Support cylinder and TBM navigation system.
As shown in Figure 1, the horizontal correction tracks of the TBM designed by the method for the present invention are by mutually circumscribed circular arc BC and circle
Arc CD is formed, wherein, B points are the starting point of correction track, i.e., the horizontal distance deviateed in TBM cutter head centers with desired trajectory is
E and cutterhead tunneling direction is with desired trajectory angleWhen TBM cutter head centers position, C points are that circular arc BC and circular arc C D is cut
Point, D points are the terminal of correction track；Circular arc BC is in B points and TBM cutterhead front verticals, and circular arc C D is in D points and desired trajectory phase
Cut.Comprise the following steps：
Step 1: when the laser target target spot in TBM navigation system exceeds setting range, obtained by TBM navigation system
The horizontal distance e and the angle of cutterhead tunneling direction and desired trajectory that TBM cutter head centers deviate with desired trajectory
Step 2: determine min. turning radius R in TBM excavation operationsmin：
When tuning is carried out in TBM excavation operations, in order to reduce Cutting Tool Damage, avoid tool apron or cutter hub from contacting palisades and make
Into the condition for damaging and protecting scraper bowl lip to cross the limitation tuning such as quick-wearing, therefore, in TBM driving distances s, side knife moves
Amount≤side knife movement limits value △ a, i.e.,
Abbreviation is：
Formula (1) is in formula (2)：It is side knife amount of movement, R is TBM radiuss of turn, so that it is determined that TBM is most
Tight turn radius Rmin, it is noted that the abrasion increase of lagging edge knife, side knife amount of movement limits value △ a also accordingly reduce.
Step 3: the horizontal distance e deviateed according to TBM cutter head centers and desired trajectory, cutterhead tunneling direction and pre- orbit determination
The angle of markAnd TBM min. turning radius Rmin, the horizontal correction tracks of TBM are cooked up, realize that TBM tracks are rectified a deviation.
For TBM in linear advancement operation, a certain moment deviates desired trajectory (see position 1 in Fig. 1), at this time according to variation
According to (the angle of horizontal distance e, cutterhead tunneling direction and desired trajectory that TBM cutterheads deviate with desired trajectory) and minimum turning
Radius Rmin, R is selected according to actual conditions1、R2, horizontal correction track is cooked up, makes TBM on the correction track by continuous water
Heibei provincial opera to, realize track rectify a deviation, as shown in Figure 1.
Formula (3) and formula (4), R1For the radius of circular arc BC in correction track, R2For the radius of circular arc C D in correction track, θ1
For the central angle of circular arc BC in correction track, θ2For correction track in circular arc C D central angle,
And meet
Ri≥RminI=1,2 (5)
The driving distance of level correction is l
L=R1θ1+R2θ2 (6)
By taking TBM supports-promote-Huan Bu mechanisms experimental bench prototype structure parameter as an example, entangled according to TBM levels obtained above
Inclined method for planning track, takes TBM straggling parameter e=3mm,Under Matlab environment, TBM is not for emulation
With the correction track under deviation, as shown in Figure 2.As seen from the figure, 3 correction tracks are smooth curve, and trailing end of rectifying a deviation
With estimating driving trajectory tangential.This method can quickly cook up required correction track according to different deviation datas.
The horizontal correction tracks of TBM cooked up according to step 3, by control the displacement of the horizontal support oil cylinder and then
TBM tunings are controlled to complete horizontal correction.Control TBM tunings are carried out using phase cutting method, i.e., are controlled in tunneling process in TBM cutterheads
Heart line and desired trajectory center line are tangent.
The general tunings of TBM are to use phase cutting method, i.e., TBM center lines and desired trajectory center line are tangent in tunneling process.Pick
During when laser target target spot exceeds setting range, the correction track that step display three is cooked up is understood in TBM navigation system,
By the TBM center lines in navigation system and the relative position of correction track, the displacement of controlled level support cylinder adjusts cutterhead
Deflected in tunneling process, realize that TBM center lines and correction trace centerline are tangent in tuning driving, be eventually returned to original make a reservation for
Track.When TBM laser targets target spot exceeds setting range again, repeat the above steps and rectify a deviation.
Although above in conjunction with attached drawing, invention has been described, and the invention is not limited in above-mentioned specific implementation
Mode, above-mentioned embodiment is only schematical, rather than restricted, and those of ordinary skill in the art are at this
Under the enlightenment of invention, without deviating from the spirit of the invention, many variations can also be made, these belong to the present invention's
Within protection.
Claims (4)
1. a kind of horizontal correction method for planning track of TBM, tunneling boring hard rock mole include cutterhead, horizontal support oil cylinder and TBM
Navigation system, it is characterised in that
The horizontal correction tracks of TBM are made of mutually circumscribed circular arc BC and circular arc C D, wherein, B points are the starting point of correction track,
The horizontal distance deviateed in TBM cutter head centers with desired trajectory is e and cutterhead tunneling direction is with desired trajectory angleWhen
The position of TBM cutter head centers, C points are the point of contact of circular arc BC and circular arc C D, and D points are the terminal of correction track；Circular arc BC B points with
TBM cutterhead front verticals, circular arc C D are tangent in D points and desired trajectory；
And comprise the following steps：
Step 1: when the laser target target spot in TBM navigation system exceeds setting range, TBM knives are obtained by TBM navigation system
The horizontal distance e and the angle of cutterhead tunneling direction and desired trajectory that disk center deviates with desired trajectory
Step 2: determine min. turning radius R in TBM excavation operationsmin：
In TBM driving distances s, while knife amount of movement≤while knife movement limits value △ a, i.e.,
<mrow>
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<mn>1</mn>
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Abbreviation is：
<mrow>
<mi>s</mi>
<mo>&le;</mo>
<mi>R</mi>
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In formula (1), formula (2)：It is side knife amount of movement, R is TBM radiuss of turn, is turned so that it is determined that TBM is minimum
Radius Rmin；
Step 3: the horizontal distance e, cutterhead tunneling direction and the desired trajectory that are deviateed according to TBM cutter head centers and desired trajectory
AngleAnd TBM min. turning radius Rmin, the horizontal correction tracks of TBM are cooked up,
Formula (3) and formula (4), R1For the radius of circular arc BC in correction track, R2For the radius of circular arc C D in correction track, θ1To entangle
The central angle of circular arc BC, θ in inclined track2For correction track in circular arc C D central angle,
And meet
Ri≥RminI=1,2 (5).
2. the horizontal correction method for planning track of TBM according to claim 1, it is characterised in that
The driving distance of the horizontal correction is l
L=R1θ1+R2θ2 (6)。
3. the horizontal correction method for planning track of TBM according to claim 1, it is characterised in that cooked up according to step 3
The horizontal correction tracks of TBM, the horizontal correction of TBM tunings completion is controlled by controlling the displacement of the horizontal support oil cylinder.
4. the horizontal correction method for planning track of TBM according to claim 3, it is characterised in that control TBM tunings are to use phase
Cutting method carries out, i.e., controls TBM cutter head centers line and desired trajectory center line tangent in tunneling process.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711173429.0A CN108005672B (en) | 2017-11-22 | 2017-11-22 | A kind of TBM level correction method for planning track |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711173429.0A CN108005672B (en) | 2017-11-22 | 2017-11-22 | A kind of TBM level correction method for planning track |
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| Publication Number | Publication Date |
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| CN108005672A true CN108005672A (en) | 2018-05-08 |
| CN108005672B CN108005672B (en) | 2019-07-23 |
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| CN201711173429.0A Expired - Fee Related CN108005672B (en) | 2017-11-22 | 2017-11-22 | A kind of TBM level correction method for planning track |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108661653A (en) * | 2018-05-22 | 2018-10-16 | 中交二公局第三工程有限公司 | The method realized and quickly rectified a deviation is promoted by the way that manual operation shield machine is actively hinged |
| CN109707400A (en) * | 2018-12-19 | 2019-05-03 | 上海勘察设计研究院(集团)有限公司 | The relative rotation evaluation method of the adjacent piecemeal of circular shield straight joint tunnel duct piece |
| CN113833482A (en) * | 2021-09-29 | 2021-12-24 | 中国铁建重工集团股份有限公司 | Portable automatic cruising man-machine interaction system of heading machine and automatic cruising method |
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| CN113833482A (en) * | 2021-09-29 | 2021-12-24 | 中国铁建重工集团股份有限公司 | Portable automatic cruising man-machine interaction system of heading machine and automatic cruising method |
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| CN108005672B (en) | 2019-07-23 |
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