CN108005672B - A kind of TBM level correction method for planning track - Google Patents
A kind of TBM level correction method for planning track Download PDFInfo
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- CN108005672B CN108005672B CN201711173429.0A CN201711173429A CN108005672B CN 108005672 B CN108005672 B CN 108005672B CN 201711173429 A CN201711173429 A CN 201711173429A CN 108005672 B CN108005672 B CN 108005672B
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- tbm
- track
- desired trajectory
- circular arc
- correction
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- 238000000034 method Methods 0.000 title claims abstract description 36
- 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
- 230000000630 rising effect Effects 0.000 claims 1
- 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
- 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 TBM level correction method for planning track, including 1) obtaining the horizontal distance of TBM cutter head center and desired trajectory deviation and the angle of cutterhead tunneling direction and desired trajectory by TBM navigation system；2) minimum turning radius in TBM excavation operation is determined；3) according to the angle and TBM minimum turning radius of TBM cutter head center and the horizontal distance of desired trajectory deviation, cutterhead tunneling direction and desired trajectory, cook up the TBM level correction track being made of two sections of mutually circumscribed circular arcs, according to TBM level correction track, the displacement for passing through the control horizontally-supported oil cylinder of TBM controls TBM tuning and completes horizontal rectify a deviation.The horizontal correction track that the present invention designs can avoid or reduce hole wall tuning and the variation formed or faulting of slab ends, pass through selected suitable correction arc locus radius, it returns to TBM as early as possible on design route and to improve construction quality, achievees the effect that TBM is efficient, accurate construction operation.
Description
Technical field
The present invention relates to tunneling boring hard rock mole (Tunnel Boring Machine, abbreviation TBM) technical field, tools
Body is related to a kind of TBM level correction method for planning track.
Background technique
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 the tunnel that this will lead to excavation is second-rate, or even is not able to satisfy engine request.Therefore track correction has become raising 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 track of rectifying a deviation 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 ideal tuning effect, Dong Bishang will appear strongly avoid because of tuning
And the variation formed and faulting of slab ends.It, must since the radius of correction arc locus is less than TBM minimum turning radius during correction
Deflection method must be used, can also occur changing on the wall of hole and faulting of slab ends.The variation and faulting of slab ends that hole wall occurs during tuning can be serious
The part contacted in damage TBM with hole wall.It so just needs when laser target spot is beyond 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 reduces hole wall tuning as possible
And the variation formed or faulting of slab ends, it returns to TBM as early as possible on design route and to improve construction quality, reaches TBM efficiently, precisely apply
The effect for the industry that works.
Summary of the invention
For the prior art, the present invention provides a kind of TBM level correction method for planning track, avoid or reduce hole wall
Tuning and the variation formed or faulting of slab ends.
In order to solve the above-mentioned technical problem, a kind of TBM level correction method for planning track proposed by the present invention, to realize
TBM is quickly returning to desired trajectory, and specific method is that tunneling boring hard rock mole includes horizontally-supported oil cylinder and TBM navigation system；
TBM level correction track is made of mutually circumscribed circular arc BC and circular arc C D, wherein B point is the starting point of correction track, that is, is existed
The horizontal distance that TBM cutter head center deviates with desired trajectory is e and cutterhead tunneling direction with desired trajectory angle isWhen TBM knife
The position of disk center, C point are the point of contact of circular arc BC and circular arc C D, and D point is the terminal of correction track；Circular arc BC is in B point and TBM knife
Disk front vertical, circular arc C D are tangent in D point and desired trajectory；
And the following steps are included:
Step 1: being obtained when the laser target target spot in TBM navigation system exceeds setting range by TBM navigation system
The angle of horizontal distance e and cutterhead tunneling direction and desired trajectory that TBM cutter head center and desired trajectory deviate
Step 2: determining minimum turning radius R in TBM excavation operationmin:
In TBM driving distance s, while knife amount of movement≤while the mobile limits value △ a of knife, i.e.,
Abbreviation are as follows:
Formula (1) is in formula (2):It is side knife amount of movement, R is TBM turning radius, so that it is determined that TBM is most
Tight turn radius Rmin,
Step 3: horizontal distance e, cutterhead tunneling direction and the pre- orbit determination deviateed according to TBM cutter head center and desired trajectory
The angle of markAnd TBM minimum turning radius Rmin, TBM level correction track is 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 TBM level correction method for planning track of the present invention, the driving distance of the horizontal correction is l
L=R1θ1+R2θ2 (6)。
The TBM level correction track cooked up according to step 3, passes through the displacement for controlling the horizontally-supported oil cylinder
It controls TBM tuning and completes horizontal correction.
Control TBM tuning is carried out using phase cutting method, i.e., controls in TBM cutter head center line and desired trajectory in tunneling process
Heart line is tangent.
Compared with prior art, the beneficial effects of the present invention are:
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 greater than TBM minimum turning radius Rmin, defect caused by deflection method can be avoided using phase cutting method；The present invention
Planned trajectory is round and smooth, avoid or reduces hole wall tuning and the variation formed or faulting of slab ends.Present invention correction can pass through in track
Selected suitable correction arc locus radius, returns to TBM as early as possible on design route and, to improve construction quality, reaches TBM high
Effect, the effect of accurate construction operation.
Detailed description of the invention
Fig. 1 is TBM level correction trajectory planning schematic diagram of the present invention；
Fig. 2 is TBM level correction track in the embodiment of the present invention.
Specific embodiment
Technical solution of the present invention is described in further detail in the following with reference to the drawings and specific embodiments, it is described specific
Embodiment is only explained the present invention, is not intended to limit the invention.
A kind of TBM level correction method for planning track proposed by the present invention, tunneling boring hard rock mole includes cutterhead, level
Support cylinder and TBM navigation system.
As shown in Figure 1, the TBM level correction track designed by the method for the invention is by mutually circumscribed circular arc BC and circle
Arc CD is constituted, wherein B point is the starting point of correction track, i.e., is in the horizontal distance that TBM cutter head center deviates with desired trajectory
E and cutterhead tunneling direction are with desired trajectory angleWhen TBM cutter head center position, C point is that circular arc BC and circular arc C D is cut
Point, D point are the terminal of correction track；Circular arc BC is in B point and TBM cutterhead front vertical, and circular arc C D is in D point and desired trajectory phase
It cuts.The following steps are included:
Step 1: being obtained when the laser target target spot in TBM navigation system exceeds setting range by TBM navigation system
The angle of horizontal distance e and cutterhead tunneling direction and desired trajectory that TBM cutter head center and desired trajectory deviate
Step 2: determining minimum turning radius R in TBM excavation operationmin:
When carrying out tuning in TBM excavation operation, in order to reduce Cutting Tool Damage, avoid tool apron or cutter hub from contacting palisades and make
At the condition for damaging and protecting scraper bowl lip to cross the limitation tuning such as quick-wearing, therefore, in TBM driving distance s, side knife is mobile
The mobile limits value △ a of amount≤side knife, i.e.,
Abbreviation are as follows:
Formula (1) is in formula (2):It is side knife amount of movement, R is TBM turning radius, so that it is determined that TBM is most
Tight turn radius Rmin, it is noted that the abrasion of lagging edge knife increases, side knife amount of movement limits value △ a also accordingly reduces.
Step 3: horizontal distance e, cutterhead tunneling direction and the pre- orbit determination deviateed according to TBM cutter head center and desired trajectory
The angle of markAnd TBM minimum turning radius Rmin, TBM level correction track is cooked up, realizes the correction of the track TBM.
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 cutterhead and desired trajectory deviate) and minimum turning
Radius Rmin, R is selected according to the actual situation1、R2, horizontal correction track is cooked up, makes TBM on the correction track by continuous water
Heibei provincial opera is to realization track is rectified 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 support-propulsion-Huan Bu mechanism experimental bench prototype structure parameter as an example, entangled according to TBM level obtained above
Inclined method for planning track takes TBM straggling parameter e=3mm,Under Matlab environment, TBM is emulated not
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 estimate driving trajectory tangential.This method can quickly cook up required correction track according to different deviation datas.
The TBM level correction track cooked up according to step 3, passes through the displacement for controlling the horizontally-supported oil cylinder
It controls TBM tuning and completes horizontal correction.Control TBM tuning is carried out using phase cutting method, i.e., controls in TBM cutterhead in tunneling process
Heart line and desired trajectory center line are tangent.
The general tuning of TBM is using phase cutting method, i.e., TBM center line and desired trajectory center line are tangent in tunneling process.Pick
Into when laser target target spot exceeds setting range, showing the correction track that step 3 is cooked up in TBM navigation system in the process,
By the relative position of TBM center line and correction track in navigation system, the displacement of controlled level support cylinder adjusts cutterhead
It is deflected in tunneling process, realizes that TBM center line and correction trace centerline are tangent in tuning driving, be eventually returned to original make a reservation for
Track.When TBM laser target target spot exceeds setting range again, repeats the above steps and rectify a deviation.
Although above in conjunction with attached drawing, invention has been described, and the invention is not limited to above-mentioned specific implementations
Mode, the above mentioned embodiment is only schematical, rather than restrictive, and those skilled 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 of the invention
Within protection.
Claims (4)
- The method for planning track 1. a kind of TBM level is rectified a deviation, tunneling boring hard rock mole includes cutterhead, horizontally-supported oil cylinder and TBM Navigation system, TBM level correction track are made of mutually circumscribed circular arc BC and circular arc C D, wherein B point is rising for correction track Initial point, i.e., be e in the horizontal distance that TBM cutter head center deviates with desired trajectory and cutterhead tunneling direction with desired trajectory angle isWhen TBM cutter head center position, C point be circular arc BC and circular arc C D point of contact, D point be correction track terminal；Circular arc BC is in B Point and TBM cutterhead front vertical, circular arc C D are tangent in D point and desired trajectory；It is characterized in that,The TBM level rectify a deviation method for planning track the following steps are included:Step 1: obtaining TBM knife by TBM navigation system when the laser target target spot in TBM navigation system exceeds setting range The angle of horizontal distance e and cutterhead tunneling direction and desired trajectory that disk center and desired trajectory deviateStep 2: determining minimum turning radius R in TBM excavation operationmin:In TBM driving distance s, while knife amount of movement≤while the mobile limits value Δ a of knife, i.e.,Abbreviation are as follows:In formula (1), formula (2):It is side knife amount of movement, R is TBM turning radius, so that it is determined that TBM minimum is turned Radius Rmin；Step 3: the horizontal distance e, cutterhead tunneling direction and the desired trajectory that are deviateed according to TBM cutter head center and desired trajectory AngleAnd TBM minimum turning radius Rmin, TBM level correction track is 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 meetRi≥RminI=1,2 (5).
- 2. TBM level correction method for planning track according to claim 1, which is characterized in thatThe driving distance of the horizontal correction is lL=R1θ1+R2θ2 (6)。
- 3. TBM level correction method for planning track according to claim 1, which is characterized in that cooked up according to step 3 TBM level correction track, the displacement for passing through the control horizontally-supported oil cylinder control TBM tuning and complete horizontal rectify a deviation.
- 4. TBM level correction method for planning track according to claim 3, which is characterized in that control TBM tuning is using phase Cutting method carries out, i.e., controls TBM cutter head center line in tunneling process and desired trajectory center line is tangent.
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| CN201711173429.0A CN108005672B (en) | 2017-11-22 | 2017-11-22 | A kind of TBM level correction method for planning track |
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| CN108005672B true CN108005672B (en) | 2019-07-23 |
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| 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 |
| CN113833482B (en) * | 2021-09-29 | 2023-02-03 | 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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