CN111075468A - Novel flexible arm heading machine propulsion system control calculation method - Google Patents
Novel flexible arm heading machine propulsion system control calculation method Download PDFInfo
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- CN111075468A CN111075468A CN201911397755.9A CN201911397755A CN111075468A CN 111075468 A CN111075468 A CN 111075468A CN 201911397755 A CN201911397755 A CN 201911397755A CN 111075468 A CN111075468 A CN 111075468A
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- 238000004364 calculation method Methods 0.000 title claims abstract description 16
- 230000005641 tunneling Effects 0.000 claims abstract description 11
- 238000009412 basement excavation Methods 0.000 claims abstract description 9
- 238000006073 displacement reaction Methods 0.000 claims abstract description 9
- 230000007246 mechanism Effects 0.000 claims description 13
- 238000000034 method Methods 0.000 claims description 11
- 230000008602 contraction Effects 0.000 claims description 6
- 238000005070 sampling Methods 0.000 claims description 5
- 239000006185 dispersion Substances 0.000 claims description 2
- 230000009471 action Effects 0.000 abstract description 2
- 238000010276 construction Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 239000011435 rock Substances 0.000 description 2
- 230000001680 brushing effect Effects 0.000 description 1
- 238000012937 correction Methods 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
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
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- 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
- E21D9/108—Remote control specially adapted for machines for driving tunnels or galleries
-
- 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
- E21D9/1006—Making by using boring or cutting machines with rotary cutting tools
-
- 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
- E21D9/1093—Devices for supporting, advancing or orientating the machine or the tool-carrier
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- 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 control calculation method for a propulsion system of a novel flexible arm heading machine, which comprises the following steps: s1: planning a cutter head excavation path according to a pre-designed tunnel contour boundary and a cutter head diameter; s2: discretizing the cutter head tunneling path to obtain track path coordinate data, and calculating a corresponding rotation angle and a corresponding swing angle of the series swing arm according to the track path coordinate data; s3: calculating the theoretical telescopic amount of the swing cylinder of the tandem swing arm and the theoretical telescopic amount of the pitch cylinder according to the corresponding rotation angle and the corresponding swing angle of the tandem swing arm obtained in the step S2; s4: and comparing the theoretical expansion amount of the swing oil cylinder of the series swing arm with the actual expansion amount measured by a displacement sensor in the swing oil cylinder, and then correcting. The invention provides reliable guarantee for controlling the action of the series swing arm, improves the control precision, provides guarantee for the efficient and accurate excavation of the flexible arm tunneling machine, and has higher popularization value.
Description
Technical Field
The invention relates to the technical field of tunnel construction, in particular to a control calculation method for a propulsion system of a novel flexible arm heading machine.
Background
The flexible arm tunneling machine adopts a six-degree-of-freedom parallel robot to control the position of the cutter head in real time, and the cutter head breaks rocks along with the rotation of the main bearing, so that the purpose of excavating any-shape section by using a small-diameter cutter head is realized, and the problem in the construction of special hard rock tunnels can be effectively solved. However, problems of overexcavation, underexcavation, high manual control difficulty, maximum increase of system work efficiency and the like may occur when a large-section tunnel is excavated by using a small-diameter cutter head, and meanwhile, the informatization requirement of a constructor on the tunnel is obviously increased, so that the control mode of the flexible arm heading machine needs to be improved to realize a plurality of functions such as automatic track planning, automatic slope brushing, selection of an optimal heading process according to geological conditions, improvement of tunnel boundary forming quality, provision of construction data for a proprietor and the like. However, the existing flexible arm tunneling machine has low design precision, large error and complicated process in the aspect of controlling the serial oil cylinder arms; the construction automation and the less humanization of the flexible arm heading machine are reduced. Therefore, it is necessary to develop a simple calculation method for controlling the expansion amount of the flexible arm tunneling series cylinder arm.
Disclosure of Invention
Aiming at the defects in the background technology, the invention provides a novel flexible arm heading machine propulsion system control calculation method to solve the technical problems.
The technical scheme of the invention is realized as follows: a control calculation method for a propulsion system of a novel flexible arm heading machine comprises the following steps:
s1: planning a cutter head excavation path according to a pre-designed tunnel contour boundary and a cutter head diameter;
s2, discretizing the cutterhead tunneling path planned in the step S1 to obtain track path coordinate data, and calculating a corresponding rotation angle β and a corresponding swing angle α of the series connection swing arm according to the track path coordinate data;
s3, calculating theoretical telescopic quantity △ l of the swing oil cylinder of the tandem swing arm and theoretical telescopic quantity △ c of the pitching oil cylinder according to the corresponding rotation angle β and the corresponding swing angle α of the tandem swing arm obtained in the step S2;
and S4, comparing the theoretical expansion amount △ l of the swing cylinder of the tandem swing arm with the actual expansion amount actually measured by a displacement sensor in the swing cylinder, comparing the theoretical expansion amount △ c of the pitch cylinder with the actual expansion amount actually measured by the displacement sensor in the pitch cylinder, and correcting the actual expansion amounts of the swing cylinder and the pitch cylinder of the tandem swing arm when the difference value between the theoretical expansion amount and the actual expansion amount exceeds an error value, so that the cutterhead excavates according to a preset track.
The method of obtaining the pivot angle β and the pivot angle α in step S2 is as follows:
s2.1, establishing a coordinate system by taking the axis of a rotating shaft of the tandem swing arm as a Z axis, enabling the y direction to be vertical to the paper surface and outward, enabling the origin O of the coordinate system to be located on the upper end surface of the rotating shaft, enabling the coordinate of the center point A of the cutter head to represent the position of the cutter head, and enabling the coordinates of A to be A ((L2cos α + L1+ L3) cos β, - (L2cos α + L1+ L3) sin β and L2sin α);
s2.2: projecting the track path coordinate data to a yz plane of a coordinate system, and obtaining a track path coordinate expressed as (y) after high-frequency sampling dispersion of a track path curve0，z0)；
S2.3: combine series connection swing arm concrete structure in the work progress, then:
wherein: l1 is the horizontal distance from the axis of the pivot shaft at the rear end hinge position of the swing arms of the tandem swing arms,
l2 is the swing arm length of the tandem swing arm,
l3 represents the horizontal distance of the radial center plane of the cutterhead from the hinge point of the back of the cutterhead;
s2.4, the controller obtains the rotation angle β and the swing angle α according to the formula ① in the step S2.3.
The step of obtaining the theoretical telescopic amount △ l of the swing cylinder in step S3 is as follows:
s3.1: establishing the same coordinate system as in step S2;
s3.2, setting the theoretical telescopic quantity of the swing oil cylinder of the tandem swing arm to be △ l, and setting the relationship between the theoretical telescopic quantity △ l of the swing oil cylinder and the rotation angle β as follows:
b＝b1+△l..........③
wherein: b1 is the initial length of the swing oil cylinder, b is the length of the swing oil cylinder in the working state;
b2 is the distance between the hinged point of the fixed end of the swing oil cylinder and the original point O,
r is the hinge circle radius of the swing oil cylinder on the rotating shaft;
and S3.3, calculating the theoretical expansion and contraction quantity of the swing oil cylinder to be △ l according to the rotation angle β obtained in the step S2 and a formula ②③.
The step of obtaining the theoretical telescopic amount △ c of the tilt cylinder in step S3 is as follows:
s3-1: establishing the same coordinate system as in step S2;
s3-2, the theoretical shrinkage of the pitch cylinder of the tandem swing arm is △ c, the relationship between the theoretical shrinkage of the pitch cylinder of △ c and the swing angle α is as follows:
c＝c1+△c； ⑤
wherein, c1The initial length of the pitching oil cylinder is used as c, and the length of the pitching oil cylinder is used in the working state;
c2the distance between the hinged point of the telescopic end of the pitching oil cylinder and the hinged point of the swing arm and the rotating shaft is set;
c3the distance between two hinge points for hinging the swing arm and the rotating shaft;
and S3-3, calculating the theoretical shrinkage of the pitch cylinder to be △ c according to the swing angle α obtained in the step S2 and the formula ④⑤.
The series swing arm comprises a supporting seat and a swing arm, a rotating shaft is rotatably arranged on the supporting seat, an eccentric lug seat is arranged on the rotating shaft, a swing oil cylinder is connected onto the eccentric lug seat, one end of the swing oil cylinder is hinged with the eccentric lug seat, and the other end of the swing oil cylinder is connected with a main beam supporting and protecting system; the swing arm comprises an upper swing arm and a lower swing arm which are equal in length, the front ends of the upper swing arm and the lower swing arm are hinged with the cutter head, the upper swing arm is connected with the lower swing arm through a connecting rod, the upper swing arm, the lower swing arm and the connecting rod form a four-bar mechanism, a pitching oil cylinder for driving the four-bar mechanism to move up and down is connected onto the four-bar mechanism, one end of the pitching oil cylinder is hinged with the four-bar mechanism, and the other end of the pitching oil cylinder is connected with the rotary.
According to the method, theoretical expansion and contraction quantities of the pitching oil cylinder and the swinging oil cylinder of the series swinging arm are compared with actual expansion and contraction quantities measured by the displacement sensor through a simple and effective calculation method, the pitching oil cylinder and the swinging oil cylinder are adjusted at any time according to the error quantity, the correction of the cutter head excavation path is completed, and the shield cutter head is ensured to carry out contour excavation according to a design path. The invention provides reliable guarantee for controlling the action of the series swing arm, improves the control precision, provides guarantee for the efficient and accurate excavation of the flexible arm tunneling machine, and has higher popularization value.
Drawings
In order to illustrate the embodiments of the invention more clearly, the drawings that are needed in the description of the embodiments will be briefly described below, it being apparent that the drawings in the following description are only some embodiments of the invention, and that other drawings may be derived from those drawings by a person skilled in the art without inventive effort.
FIG. 1 is a flow chart of control calculations according to the present invention.
Fig. 2 is a schematic view of a tandem swing arm configuration of the present invention.
Fig. 3 is a schematic view of a coordinate system established with the central axis of the swing shaft of the tandem swing arm as the z-axis.
FIG. 4 is a schematic view of a coordinate system established with the central axis of the rotating shaft as the z-axis.
FIG. 5 is a geometrical relationship diagram of the swing cylinder in an xy plane coordinate system.
FIG. 6 is a view showing the geometry of the tilt cylinder in the yz plane coordinate system.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.
The method for controlling and calculating the expansion and contraction quantity of the tandem swing arm comprises the following steps: as shown in fig. 1:
s1: planning a cutter head excavation path according to a pre-designed tunnel contour boundary and a cutter head diameter D; the background controller adopts a high-frequency sampling and straight line fitting method to fit a tunnel contour boundary, wherein the tunnel contour boundary is a known and designed tunnel contour boundary;
s2, carrying out high-frequency sampling discretization on the cutterhead tunneling path planned in the step S1, discretizing the contour boundary line of the tunnel into a corresponding position point group to obtain track path coordinate data after discretization, and calculating a corresponding rotation angle β and a corresponding swing angle α of the series swing arm according to the track path coordinate data, namely, the coordinate of the corresponding position point is known, and converting the coordinate into a corresponding relation between the rotation angle β and the swing angle α of the corresponding swing arm according to the known coordinate position point to obtain a rotation angle β and a swing angle α;
s3, calculating theoretical telescopic quantity △ l of the swing oil cylinder of the tandem swing arm and theoretical telescopic quantity △ c of the pitch oil cylinder according to the corresponding rotation angle β and the corresponding swing angle α of the tandem swing arm obtained in the step S2, namely converting the theoretical telescopic quantity into the telescopic quantity of the swing oil cylinder and the telescopic quantity of the pitch oil cylinder according to the obtained rotation angle β and the obtained swing angle α, wherein the two telescopic quantities are both the theoretical telescopic quantities;
and S4, comparing the theoretical expansion amount △ l of the swing cylinder of the tandem swing arm with the actual expansion amount actually measured by a displacement sensor in the swing cylinder, comparing the theoretical expansion amount △ c of the pitch cylinder with the actual expansion amount actually measured by the displacement sensor in the pitch cylinder, and correcting the actual expansion amounts of the swing cylinder and the pitch cylinder of the tandem swing arm when the difference value between the theoretical expansion amount and the actual expansion amount exceeds an error value, so that the cutterhead excavates according to a preset track.
s2.1: establishing a coordinate system by taking the axis of a rotating shaft of the series oscillating arm as a Z axis as shown in figures 3 and 4, wherein the y direction is perpendicular to the paper surface and faces outwards, the origin O of the coordinate system is positioned on the upper end surface of the rotating shaft, the coordinate of the center point A of the cutter head represents the position of the cutter head, the coordinate of A is obtained according to the geometrical relationship, and the coordinate of A can be represented as:
A((L2cosα+L1+L3)cosβ，-(L2cosα+L1+L3)sinβ，L2sinα)；
s2.2: projecting the coordinate data of the track path to a yz plane of a coordinate system, wherein the yz plane is coplanar with the excavation cross section, facilitating calculation of the actual cutter head position, and obtaining the track path coordinate expressed as (y) after high-frequency sampling and dispersing of a track path curve0，z0)；
S2.3: the concrete structure of the series swing arm is combined in the construction process, namely the locus point after discrete processing is equal to the cutter head position point under the actual structure condition, then:
wherein: l1 is the horizontal distance from the pivot axis of the pivot shaft to the rear end hinge position of the swing arm of the tandem swing arm, L2 is the length of the swing arm of the tandem swing arm, and L3 represents the horizontal distance from the radial center plane of the cutterhead to the hinge position of the back of the cutterhead; l1, L2, L3 are all known amounts;
s2.4-the controller obtains the pivot angle β and the swing angle α according to the formula ① in step S2.3 because y0、z0L1, L2 and L3 are known quantities, and the turning angle β and the swinging angle α at a certain time in the working state are obtained.
The step of obtaining the theoretical telescopic amount △ l of the swing cylinder in step S3 is as follows:
s3.1: establishing a coordinate system which is the same as that in the step S2, wherein a point B in the coordinate system is a hinge point of the fixed end of the swing oil cylinder and the main beam system as shown in FIG. 5;
s3.2, setting the theoretical telescopic quantity of the swing oil cylinder of the tandem swing arm to be △ l, and obtaining the theoretical telescopic quantity △ l of the swing oil cylinder and the relationship of the rotation angle β according to the geometrical relationship:
b＝b1+△l..........③
wherein: b1 is the initial length of the swing oil cylinder, b is the length of the swing oil cylinder in the working state;
b2 is the distance between the hinged point of the fixed end of the swing oil cylinder and the original point O,
r is the hinge circle radius of the swing oil cylinder on the rotating shaft, namely the distance from the eccentric lug seat to the center of the rotating shaft;
and S3.3, calculating the theoretical expansion and contraction quantity of the swing oil cylinder to be △ l according to the rotation angle β obtained in the step S2 and a formula ②③.
The step of obtaining the theoretical telescopic amount △ c of the tilt cylinder in step S3 is as follows:
s3-1: establishing the same coordinate system as in step S2, as shown in fig. 6;
s3-2, setting the theoretical shrinkage of the pitching cylinder of the tandem swing arm to be △ c, and obtaining the relationship between the theoretical shrinkage of the pitching cylinder to be △ c and the swing angle α according to the geometrical relationship as follows:
c＝c1+△c..........⑤；
wherein, c1The initial length of the pitching oil cylinder is used as c, and the length of the pitching oil cylinder is used in the working state;
c2the distance between the hinged point of the telescopic end of the pitching oil cylinder and the hinged point of the swing arm and the rotating shaft is set;
c3 is the distance between two hinge points of the swing arm and the rotary shaft;
and S3-3, calculating the theoretical shrinkage of the pitch cylinder to be △ c according to the swing angle α obtained in the step S2 and the formula ④⑤.
Other structures or methods are the same as those of embodiment 1.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (5)
1. A novel flexible arm heading machine propulsion system control calculation method is characterized in that: the method comprises the following steps:
s1: planning a cutter head excavation path according to a pre-designed tunnel contour boundary and a cutter head diameter;
s2, discretizing the cutterhead tunneling path planned in the step S1 to obtain track path coordinate data, and calculating a corresponding rotation angle β and a corresponding swing angle α of the series connection swing arm according to the track path coordinate data;
s3, calculating theoretical telescopic quantity △ l of the swing oil cylinder of the tandem swing arm and theoretical telescopic quantity △ c of the pitching oil cylinder according to the corresponding rotation angle β and the corresponding swing angle α of the tandem swing arm obtained in the step S2;
and S4, comparing the theoretical expansion amount △ l of the swing cylinder of the tandem swing arm with the actual expansion amount actually measured by a displacement sensor in the swing cylinder, comparing the theoretical expansion amount △ c of the pitch cylinder with the actual expansion amount actually measured by the displacement sensor in the pitch cylinder, and correcting the actual expansion amounts of the swing cylinder and the pitch cylinder of the tandem swing arm when the difference value between the theoretical expansion amount and the actual expansion amount exceeds an error value, so that the cutterhead excavates according to a preset track.
2. The control calculation method of the propulsion system of the novel flexible arm heading machine according to claim 1, wherein the method for obtaining the rotation angle β and the swing angle α in step S2 is as follows:
s2.1, establishing a coordinate system by taking the axis of a rotating shaft of the tandem swing arm as a Z axis, enabling the y direction to be vertical to the paper surface and outward, enabling the origin O of the coordinate system to be located on the upper end surface of the rotating shaft, enabling the coordinate of the center point A of the cutter head to represent the position of the cutter head, and enabling the coordinates of A to be A ((L2cos α + L1+ L3) cos β, - (L2cos α + L1+ L3) sin β and L2sin α);
s2.2: projecting the track path coordinate data to a yz plane of a coordinate system, and obtaining a track path coordinate expressed as (y) after high-frequency sampling dispersion of a track path curve0，z0)；
S2.3: combine series connection swing arm concrete structure in the work progress, then:
wherein: l1 is the horizontal distance from the axis of the pivot shaft at the rear end hinge position of the swing arms of the tandem swing arms,
l2 is the swing arm length of the tandem swing arm,
l3 represents the horizontal distance of the radial center plane of the cutterhead from the hinge point of the back of the cutterhead;
s2.4, the controller obtains the rotation angle β and the swing angle α according to the formula ① in the step S2.3.
3. The control calculation method of the propulsion system of the novel flexible arm tunneling machine according to claim 2, wherein the step of obtaining the theoretical expansion amount △ l of the swing cylinder in step S3 is as follows:
s3.1: establishing the same coordinate system as in step S2;
s3.2, setting the theoretical telescopic quantity of the swing oil cylinder of the tandem swing arm to be △ l, and setting the relationship between the theoretical telescopic quantity △ l of the swing oil cylinder and the rotation angle β as follows:
b＝b1+△l； ③
wherein: b1The initial length of the swing oil cylinder is b, and the length of the swing oil cylinder is in a working state;
b2is the distance between the hinged point of the fixed end of the swing oil cylinder and the original point O,
r is the hinge circle radius of the swing oil cylinder on the rotating shaft;
and S3.3, calculating the theoretical expansion and contraction quantity of the swing oil cylinder to be △ l according to the rotation angle β obtained in the step S2 and a formula ②③.
4. The control calculation method of the propulsion system of the novel flexible arm tunneling machine according to claim 1 or 3, wherein the step of obtaining the theoretical extension amount △ c of the pitch cylinder in step S3 is as follows:
s3-1: establishing the same coordinate system as in step S2;
s3-2, the theoretical shrinkage of the pitch cylinder of the tandem swing arm is △ c, the relationship between the theoretical shrinkage of the pitch cylinder of △ c and the swing angle α is as follows:
c＝c1+△c； ⑤
wherein, c1The initial length of the pitching oil cylinder is used as c, and the length of the pitching oil cylinder is used in the working state;
c2the distance between the hinged point of the telescopic end of the pitching oil cylinder and the hinged point of the swing arm and the rotating shaft is set;
c3the distance between two hinge points for hinging the swing arm and the rotating shaft;
and S3-3, calculating the theoretical shrinkage of the pitch cylinder to be △ c according to the swing angle α obtained in the step S2 and the formula ④⑤.
5. The novel flexible arm roadheader propulsion system control calculation method according to claim 1 or 4, characterized in that: the series swing arm comprises a supporting seat (3) and a swing arm (2), a rotating shaft (5) is rotatably arranged on the supporting seat (3), an eccentric lug seat (6) is arranged on the rotating shaft (5), a swing oil cylinder (7) is connected to the eccentric lug seat (6), one end of the swing oil cylinder (7) is hinged to the eccentric lug seat (6), and the other end of the swing oil cylinder is connected with a main beam supporting and protecting system; the swing arm (2) comprises an upper swing arm (201) and a lower swing arm (202) which are equal in length, the front ends of the upper swing arm (201) and the lower swing arm (202) are hinged to a cutter head, the upper swing arm (201) is connected with the lower swing arm (202) through a connecting rod (203), the upper swing arm (201), the lower swing arm (202) and the connecting rod (203) form a four-bar mechanism, a pitching oil cylinder (8) which drives the four-bar mechanism to move up and down is connected to the four-bar mechanism, one end of the pitching oil cylinder (8) is hinged to the four-bar mechanism, and the other end of the pitching oil cylinder is connected to the rotating shaft.
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| CN104678428A (en) * | 2015-03-11 | 2015-06-03 | 山东大学 | Tunnel boring machine rock breaking seismic source and active source three-dimensional seismic combined advanced detection system |
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| CN105736007A (en) * | 2016-03-18 | 2016-07-06 | 济南轨道交通集团有限公司 | Shield tunneling machine positioning and deviation correcting system and method based on stratum information integration |
| CN108952742A (en) * | 2018-07-30 | 2018-12-07 | 广州鑫唐夏信息科技有限公司 | A kind of shield machine guidance method and system based on machine vision |
| CN109766610A (en) * | 2018-12-29 | 2019-05-17 | 中铁工程装备集团有限公司 | A kind of cutterhead design method excavated for round rectangle full section of tunnel profiling |
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2019
- 2019-12-30 CN CN201911397755.9A patent/CN111075468B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2306799A1 (en) * | 1973-02-12 | 1974-08-29 | Taiheiyo Coal Mining Co Ltd | ACCESS ROUTE DEEPENING EQUIPMENT |
| JP2002047889A (en) * | 2000-08-04 | 2002-02-15 | Mitsubishi Heavy Ind Ltd | Cutter replacing method and tunnel boring machine |
| CN101266134A (en) * | 2008-04-30 | 2008-09-17 | 山西焦煤集团有限责任公司 | Cantilever driving frame head posture measuring systems and its method |
| CN104678428A (en) * | 2015-03-11 | 2015-06-03 | 山东大学 | Tunnel boring machine rock breaking seismic source and active source three-dimensional seismic combined advanced detection system |
| CN204496014U (en) * | 2015-03-11 | 2015-07-22 | 山东大学 | Rock tunnel(ling) machine breaks rock focus and active source 3-D seismics associating forward probe system |
| CN105736007A (en) * | 2016-03-18 | 2016-07-06 | 济南轨道交通集团有限公司 | Shield tunneling machine positioning and deviation correcting system and method based on stratum information integration |
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