CN112096391B - Automatic assembling machine position adjusting system and method based on synchronous assembling mode - Google Patents

Automatic assembling machine position adjusting system and method based on synchronous assembling mode Download PDF

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Publication number
CN112096391B
CN112096391B CN202010939960.XA CN202010939960A CN112096391B CN 112096391 B CN112096391 B CN 112096391B CN 202010939960 A CN202010939960 A CN 202010939960A CN 112096391 B CN112096391 B CN 112096391B
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distance
erector
assembling
machine
splicing
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CN112096391A (en
Inventor
秦元
闵锐
朱叶艇
程瀛
黄圣
袁向华
徐晓磊
沈辉
陈柳锋
屠垒
张雅澜
顾旭颖
刘智辉
龚卫
翟一欣
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Shanghai Shentong Metro Co ltd
Shanghai Tunnel Engineering Co Ltd
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Shanghai Tunnel Engineering Co Ltd
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    • E—FIXED CONSTRUCTIONS
    • E21—EARTH 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
    • E21D9/06—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining
    • E21D9/0607—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining the shield being provided with devices for lining the tunnel, e.g. shuttering
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D11/00—Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
    • E21D11/04—Lining with building materials
    • E21D11/08—Lining with building materials with preformed concrete slabs
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH 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
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH DRILLING; MINING
    • E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
    • E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH DRILLING; MINING
    • E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
    • E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
    • E21F17/18—Special adaptations of signalling or alarm devices
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

The invention relates to an automatic position adjusting method and system of an assembling machine based on a synchronous assembling mode, wherein the method comprises the following steps: when the shield tunneling machine completes the ring width distance of a ring of pipe segments, collecting the distance from the splicing machine at the current moment to the spliced pipe segments adjacent to the current ring pipe segment splicing space and recording the distance as a target distance; assembling the current ring segment by using an assembling machine in the process of continuously tunneling the shield tunneling machine, and acquiring the distance of the assembled segment, which is close to the assembling space of the current ring segment, of the assembling machine distance in real time and recording the distance as an actual measurement distance in the process of assembling the current ring segment; and moving and adjusting the splicing machine by utilizing the difference value between the measured distance and the target distance so as to keep the relative position between the splicing machine and the spliced pipe piece adjacent to the current ring pipe piece splicing space unchanged. The invention saves the manual adjustment of the position of the erector, realizes the automatic adjustment of the position of the erector, reduces the operation difficulty, saves the labor cost and avoids the problem of danger in the manual adjustment.

Description

Automatic assembling machine position adjusting system and method based on synchronous assembling mode
Technical Field
The invention relates to the technical field of shield assembling machine control, in particular to an assembling machine position automatic adjusting system based on a synchronous assembling mode.
Background
From the market, China is becoming the country with the largest quantity of development machines in the world, technically, the shield development machine represents the development direction of tunnel development equipment, and the contradiction between the huge market demand and the relatively lagging shield development machine technology in China is already obvious. Meanwhile, as the construction of the shield machine is a high-risk industry, the smooth and efficient completion of the engineering can be ensured only by ensuring the stability and high reliability of the product quality. How to improve the construction efficiency and the equipment reliability of the shield machine has important guiding significance for underground construction.
The existing shield machine is mutually independent in propulsion and assembly and is discrete in time distribution, the shield machine is static during assembly, and the shield machine is used for tunneling construction after assembly is finished, however, the construction efficiency of the shield machine is low due to mutual independence of propulsion and assembly.
A prior patent application in china (application No. 201910830923.2, entitled as a method for synchronously splicing duct pieces by a shield machine) provides a method for synchronously splicing duct pieces by a shield machine, and provides a technical scheme for synchronously splicing duct pieces while tunneling by the shield machine, but the scheme does not provide a way for realizing relative stillness of the splicing machine.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides an automatic splicing machine position adjusting system and method based on a synchronous splicing mode, and solves the problems of high operation difficulty, high labor cost and dangerousness existing in the conventional synchronous splicing method that a splicing machine needs to be manually pushed to keep the position of the splicing machine relatively static.
The technical scheme for realizing the purpose is as follows:
the invention provides an automatic position adjusting method of an assembling machine based on a synchronous assembling mode, which comprises the following steps of:
when the shield tunneling machine completes the ring width distance of a ring of pipe segments and forms a current ring of pipe segment splicing space, collecting the distance from the splicing machine to the spliced pipe segments adjacent to the current ring of pipe segment splicing space at the current moment and recording as a target distance;
assembling a current ring segment by using the assembling machine in the process of continuously tunneling the shield tunneling machine, and acquiring the distance from the assembling machine to the assembled segment adjacent to the current ring segment assembling space in real time in the process of assembling the current ring segment and recording the distance as an actual measurement distance;
and moving and adjusting the erector by utilizing the difference value between the measured distance and the target distance so as to keep the relative position between the erector and the assembled segment adjacent to the current annular segment assembling space unchanged.
According to the invention, when the tunnel width of one ring of pipe pieces is completed by digging in the shield machine, the distance between the erector and the assembled pipe piece (namely the previous ring of pipe pieces) adjacent to the current ring pipe piece assembling space is collected as a target distance, and then the position of the erector is moved and adjusted in real time so that the erector and the previous ring pipe piece keep the target distance, so that the forward driving of the shield machine can be counteracted by the movement of the erector, the erector and the previous ring pipe piece keep a relative static state, and the erector is equivalent to pipe piece assembling under the condition that the shield machine stops, thereby saving manual adjustment of the position of the erector, realizing automatic adjustment of the position of the erector, reducing the operation difficulty, saving the labor cost and avoiding the problem of danger existing in manual adjustment. The adjusting method of the invention makes the automatic control of the splicing and pushing synchronization of the shield machine possible, and does not need manual control, thereby improving the working efficiency.
The invention further improves the automatic position adjusting method of the splicing machine based on the synchronous splicing mode, and the method also comprises the following steps:
setting reference points on the assembled duct pieces adjacent to the assembling machine and adjacent to the current ring pipe piece assembling space;
collecting the distance between the erector and the reference point and recording as the target distance when the shield tunneling machine completes the ring width distance of a ring of pipe segments and forms the current ring pipe segment assembling space;
and when the erector assembles the current ring segment, acquiring the distance between the erector and the reference point in real time and recording the distance as the actual measurement distance.
The invention further improves the automatic position adjusting method of the splicing machine based on the synchronous splicing mode, and the method also comprises the following steps:
and installing a distance meter on the erector, and measuring the distance between the erector and the reference point by using the distance meter.
The invention further improves the automatic position adjusting method of the splicing machine based on the synchronous splicing mode, and the method also comprises the following steps:
and installing a code reader on the assembling machine, and scanning by using the code reader to obtain the distance between the assembling machine and the reference point.
The invention further improves an automatic erector position adjusting method based on a synchronous assembling mode, wherein the step of movably adjusting the erector by using the difference value between the measured distance and the target distance comprises the following steps:
calculating to obtain corresponding control parameters by using the difference value between the actual measurement distance and the target distance;
and controlling the assembling machine to translate according to the control parameters.
The invention also provides an automatic splicing machine position adjusting system based on the synchronous splicing mode, which comprises the following components:
the triggering unit is used for forming a triggering instruction when the shield tunneling machine completes the ring width distance of a ring of pipe pieces;
the acquisition unit is connected with the trigger unit and used for acquiring the distance between the erector and the assembled segment adjacent to the current ring segment assembling space at the current moment and recording the acquired distance as a target distance when receiving the trigger instruction, and is also used for acquiring the distance between the erector and the assembled segment adjacent to the current ring segment assembling space in real time and recording the acquired distance as an actual measurement distance in the process of continuously tunneling the shield machine;
the control unit is connected with the erector and the collecting unit, receives the target distance and the measured distance collected by the collecting unit, calculates the difference value of the target distance and the measured distance and controls the erector to move and adjust according to the difference value, so that the relative position between the erector and the assembled segments adjacent to the current annular segment assembling space is kept unchanged.
The automatic splicing machine position adjusting system based on the synchronous splicing mode is further improved in that a reference point is arranged on a spliced duct piece adjacent to the splicing machine distance and adjacent to the current ring pipe piece splicing space;
the acquisition unit is used for acquiring the distance between the erector and the reference point, so as to obtain the corresponding target distance and the measured distance.
The automatic erector position adjusting system based on the synchronous assembling mode is further improved in that the acquisition unit is a distance meter which is arranged on the erector and used for measuring the distance between the erector and the reference point.
The system for automatically adjusting the position of the splicing machine based on the synchronous splicing mode is further improved in that the acquisition unit is a code reader which is installed on the splicing machine and used for scanning and acquiring the distance between the splicing machine and the reference point.
The automatic erector position regulating system based on the synchronous assembling mode is further improved in that the control unit calculates corresponding control parameters by using the difference values and sends the control parameters to the erector to control the erector to translate.
Drawings
FIG. 1 is a flow chart of an automatic position adjusting method of an assembling machine based on a synchronous assembling mode.
FIG. 2 is a system diagram of an automatic erector position adjusting system based on a synchronous assembling mode.
Detailed Description
The invention is further described with reference to the following figures and specific examples.
Referring to fig. 1, the invention provides an automatic splicing machine position adjusting system and method based on a synchronous splicing mode, which are used for keeping the position between a splicing machine and a previous ring pipe piece (namely, a spliced pipe piece adjacent to a current ring pipe piece splicing space) relatively static in the tunneling process of a shield machine, and solving the problem that the splicing machine is difficult to splice due to the fact that the splicing machine moves relative to the previous ring pipe piece along with the shield machine when the shield machine is propelled. According to the automatic adjusting system and method, the position of the erector is adjusted in real time by acquiring the distance between the erector and the segment of the previous ring, so that the position of the erector relative to the segment of the previous ring can be relatively static, which is equivalent to the assembling working condition of the erector in the shutdown state of the shield machine, the splicing and pushing synchronization can be realized without changing any structure of the erector, the manual control is omitted, the working efficiency is improved, and the construction efficiency of the shield machine can also be improved. The present invention relates to a system and a method for automatically adjusting the position of an assembling machine based on a synchronous assembling mode, which are described below with reference to the accompanying drawings.
Referring to fig. 2, a system diagram of the automatic erector position adjusting system based on the synchronous assembling mode is shown. The automatic position adjusting system of the splicing machine based on the synchronous splicing mode is described below with reference to fig. 2.
As shown in fig. 2, the system for automatically adjusting the position of the erector based on the synchronous assembling mode of the present invention comprises a triggering unit 21, a collecting unit 22 and a control unit 23, wherein the triggering unit 21 is connected with the collecting unit 22, the collecting unit 22 is connected with the control unit 23, and the control unit 23 is in control connection with the erector and is used for controlling the erector to perform movement adjustment.
The triggering unit 21 is used for forming a triggering instruction when the shield tunneling machine completes the ring width distance of one ring of pipe segments, the triggering instruction is used for triggering the acquisition unit to operate, and the shield tunneling machine completes the ring width distance of one ring of pipe segments to form the assembling space of the current ring of pipe segments.
When the acquisition unit 22 receives the trigger instruction, the distance between the erector at the current moment and the assembled segment adjacent to the current ring segment assembling space (i.e. the segment ring which is the previous ring segment of the segment ring to be assembled currently) is acquired and recorded as a target distance, the target distance is a target position to which the erector needs to be adjusted, the distance between the erector and the assembled segment adjacent to the current ring segment assembling space is kept as the target distance, and the relative position between the erector and the segment to be assembled currently is kept unchanged. The collecting unit 22 is further configured to collect, in real time, a distance from the erector to the assembled segment adjacent to the current annular segment assembling space in the process of continuing tunneling by the shield machine, and record the distance as an actual measurement distance, wherein the actual measurement distance is certainly greater than a target distance as the shield machine continues tunneling, that is, the erector moves along with the shield machine toward a direction away from the assembled segment adjacent to the current annular segment assembling space.
The control unit 23 receives the target distance and the measured distance acquired by the acquisition unit 22, calculates the difference between the target distance and the measured distance, and controls the movement adjustment of the erector according to the difference, so that the relative position between the erector and the assembled duct pieces adjacent to the current ring duct piece assembling space is kept unchanged.
The automatic adjusting system adjusts the position of the splicing machine in real time, so that the splicing machine can keep the distance between the splicing machine and the spliced pipe piece adjacent to the current ring pipe piece splicing space as a target distance, the splicing machine is enabled to work in the splicing area of the current ring pipe piece splicing space all the time, splicing and pushing synchronization automation is made possible, any structure of the shield machine and the splicing machine does not need to be changed, the cost is low, and the working efficiency is high.
In one embodiment of the invention, the automatic adjustment system of the invention is a separate integrated module, which is installed on the erector, and the control unit in the separate integrated module is in communication with the control system of the erector, and the control unit can realize the movement adjustment of the erector by sending control instructions to the control system of the erector. Therefore, the improvement cost of the assembling machine can be reduced, and the synchronous construction of assembling and tunneling can be realized without changing any structure on the assembling machine.
In a specific embodiment of the present invention, the triggering unit 21 is connected to a displacement sensor, the displacement sensor detects a gap distance between the shield tail of the shield tunneling machine and the segment assembled in the previous ring in real time, and when the gap distance is equal to the ring width of a segment in a ring, a signal is sent to the triggering unit 21, so that the triggering unit 21 forms a triggering instruction to the collecting unit 22.
The acquisition unit 22 does not need to be in an operating state all the time, and can be awakened through the trigger instruction of the trigger unit 21, so that the electric energy consumed by the acquisition unit 22 can be saved, and resources are saved. The acquisition unit 22 starts to work after being awakened by the trigger instruction, the target distance is acquired, the distance is acquired in real time to obtain the actual measurement distance, and after the current ring segment is assembled, the acquisition unit 22 enters a dormant state until the next trigger of the trigger unit 21. Preferably, the assembling machine forms an assembling completion instruction after the assembling of the current ring segment is completed, and sends the assembling completion instruction to the control unit 23, the control unit 23 is connected with the acquisition unit 22 in a control manner, and the acquisition unit 22 is controlled to stop moving according to the assembling completion instruction, that is, to enter a dormant state.
Similarly, when the acquisition unit 22 enters the sleep state, the control unit 23 may also enter the sleep state, and when the acquisition unit 22 is triggered to wake up by the trigger unit 21, the control unit 23 is synchronously woken up. Therefore, the trigger unit 21 in the automatic adjusting system is always in the running state, other units can be in the dormant state, and the trigger unit can run when needing to be used, so that energy can be saved, and waste is avoided.
In one embodiment of the invention, a reference point is provided on an assembled duct piece adjacent to the current ring duct piece assembly space of the assembly distance; the acquisition unit 22 is used for acquiring the distance between the erector and the reference point, so as to obtain the corresponding target distance and the measured distance.
When the segment is assembled by the assembling machine, a reference point is arranged on the assembled segment block, the reference point is used as an acquisition target position of the acquisition unit 22, the distance between the reference point and the reference point is acquired at the moment when a trigger instruction is received and is recorded as the target position, and the distance between the self and the reference point is acquired and is recorded as the actual measurement distance after the shield tunneling machine continues to tunnel. The set reference point can facilitate the collection operation of the collection unit 22.
Further, the acquisition unit 22 is a distance meter, which is mounted on the erector, and which is used to measure the distance of the erector from a reference point. This reference point preferred is the target of perpendicular connection on the section of jurisdiction piece that has been assembled, and the distancer is laser range finder, thereby this laser range finder can record its distance apart from the target towards the target transmission laser of target.
In another preferred embodiment, the acquisition unit 22 is a code reader mounted on the erector for scanning the distance of the erector from a reference point. The reference point is preferably a bar-coded ruler which is scanned by a code reader to measure the distance of the erector from the target. The ruler with the bar codes is transversely installed on the assembled pipe pieces, the code reader is transversely installed on the assembling machine, the scanning port is correspondingly located above the ruler with the bar codes, and the distance from the assembling machine to the assembled pipe pieces can be obtained by scanning the ruler with the bar codes.
Preferably, the real-time acquisition of the acquisition unit 22 is actually acquisition under a set scanning period, the set scanning period is less than 10ms, and the set scanning period is used for controlling the position adjustment of the splicing machine, so that the splicing precision requirement of the splicing machine can be met sufficiently, and splicing and pushing synchronization can be realized.
In an embodiment of the present invention, the control unit 23 calculates a corresponding control parameter by using a difference between the target distance and the measured distance, and sends the control parameter to the erector to control the erector to perform translation.
The splicing machine is provided with a translation oil cylinder and a translation flow proportional valve, the control unit 23 calculates the translation speed of the translation oil cylinder according to the difference value to form a control parameter, the control parameter is sent to a control system of the splicing machine, the control system of the splicing machine sends the control parameter to the translation flow proportional valve, so that the translation oil cylinder pushes the splicing machine to move towards the direction of the previous ring of pipe pieces, the distance between the splicing machine and the previous ring of pipe pieces is kept as a target distance, and the purpose of keeping the relative position unchanged is achieved. Specifically, the control unit 23 converts the opening degree of the translational flow proportional valve according to the difference between the measured distance and the target distance to form a control parameter, and the control parameter directly controls the opening degree of the translational flow proportional valve, so that the erector is pushed to translate.
According to the automatic adjusting system, the relative position of the erector relative to the assembled duct pieces is kept unchanged by collecting the relative position information of the erector and the assembled duct pieces and controlling the translation flow proportional valve of the erector, and the erector always works in an assembling area, so that the erector can continue to assemble the duct pieces according to the original program setting flow. After the current ring pipe piece is assembled and is accomplished, the erector can continue to follow the shield structure machine and move forward, and when the next ring pipe piece needs to be assembled, the automatic regulating system starts the erector of next round to move the regulation control, so reciprocating has just realized the synchronous of pushing out of piecing together of shield structure machine.
The invention also provides an automatic splicing machine position adjusting method based on the synchronous splicing mode, and the automatic adjusting method is explained below.
As shown in fig. 1, the automatic adjustment method includes the steps of:
executing step S11, when the shield machine completes the ring width distance of a ring of pipe pieces and forms the current ring pipe piece assembling space, collecting the distance between the assembling machine at the current moment and the assembled pipe pieces adjacent to the current ring pipe piece assembling space and recording the distance as a target distance; then, step S12 is executed;
executing step S12, assembling the current ring pipe piece by using the assembling machine in the process of continuously tunneling the shield tunneling machine, and acquiring the distance of the assembled pipe piece adjacent to the current ring pipe piece assembling space of the assembling machine distance in real time and recording the distance as the actual measurement distance in the process of assembling the current ring pipe piece; then, step S13 is executed;
and step S13, moving and adjusting the splicing machine by utilizing the difference value between the measured distance and the target distance so as to keep the relative position between the splicing machine and the spliced pipe piece adjacent to the current ring pipe piece splicing space unchanged.
According to the invention, when the ring width of a ring of pipe segments is completed by digging in the shield tunneling machine, the distance between the erector and the assembled pipe segments (namely the previous ring of pipe segments) adjacent to the current ring pipe segment assembling space is collected as a target distance, and then the position of the erector is moved and adjusted in real time to enable the erector to keep the target distance with the previous ring pipe segment, so that the forward driving of the shield tunneling machine can be counteracted by the movement of the erector, the erector and the previous ring pipe segment are kept in a relatively static state, and the erector is equivalent to the assembling of the pipe segments under the condition that the shield tunneling machine stops, thereby saving the manual adjustment of the position of the erector, realizing the automatic adjustment of the position of the erector, reducing the operation difficulty, saving the labor cost and avoiding the problem of danger caused by the manual adjustment. The adjusting method of the invention makes the automatic control of the splicing and pushing synchronization of the shield machine possible, and does not need manual control, thereby improving the working efficiency.
In an embodiment of the present invention, the automatic adjustment method further includes:
setting reference points on the assembled duct pieces adjacent to the assembling machine and adjacent to the current ring pipe piece assembling space;
collecting the distance between the erector and a reference point and recording as a target distance when the shield tunneling machine completes the ring width distance of a ring of pipe segments and forms a current ring pipe segment assembling space;
when the erector assembles the current ring segment, the distance between the erector and the reference point is collected in real time and recorded as the actual measurement distance.
In an embodiment of the present invention, the automatic adjustment method further includes:
and (4) installing a distance meter on the erector, and measuring the distance between the erector and the reference point by using the distance meter. The rangefinder is preferably a laser rangefinder.
The invention further improves the automatic position adjusting method of the splicing machine based on the synchronous splicing mode, and the method also comprises the following steps:
and installing a code reader on the assembling machine, and scanning by using the code reader to obtain the distance between the assembling machine and the reference point. Preferably, the reference point is a bar with a bar code transversely installed on the assembled duct piece, the code reader is transversely installed on the assembling machine, the scanning port is correspondingly positioned above the bar with the bar code, and the distance from the assembling machine to the assembled duct piece can be obtained by scanning the bar with the bar code.
In a specific embodiment of the present invention, the step of moving the erector by using the difference between the measured distance and the target distance comprises:
calculating to obtain corresponding control parameters by using the difference value between the actual measurement distance and the target distance;
and controlling the assembling machine to translate according to the control parameters.
While the present invention has been described in detail and with reference to the embodiments thereof as illustrated in the accompanying drawings, it will be apparent to one skilled in the art that various changes and modifications can be made therein. Therefore, certain details of the embodiments are not to be interpreted as limiting, and the scope of the invention is to be determined by the appended claims.

Claims (10)

1. An automatic splicing machine position adjusting method based on a synchronous splicing mode is characterized by comprising the following steps:
when the shield tunneling machine completes the ring width distance of a ring of pipe segments and forms a current ring of pipe segment splicing space, collecting the distance from the splicing machine to the spliced pipe segments adjacent to the current ring of pipe segment splicing space at the current moment and recording as a target distance;
assembling a current ring segment by using the assembling machine in the process of continuously tunneling the shield tunneling machine, and acquiring the distance from the assembling machine to the assembled segment adjacent to the current ring segment assembling space in real time in the process of assembling the current ring segment and recording the distance as an actual measurement distance;
and moving and adjusting the erector by utilizing the difference value between the measured distance and the target distance so as to keep the relative position between the erector and the assembled segment adjacent to the current annular segment assembling space unchanged.
2. The automatic erector position adjustment method based on the synchronous erection mode as claimed in claim 1, further comprising:
setting reference points on the assembled duct pieces adjacent to the assembling machine and adjacent to the current ring pipe piece assembling space;
collecting the distance between the erector and the reference point and recording as the target distance when the shield tunneling machine completes the ring width distance of a ring of pipe segments and forms the current ring pipe segment assembling space;
and when the erector assembles the current ring segment, acquiring the distance between the erector and the reference point in real time and recording the distance as the actual measurement distance.
3. The automatic erector position adjustment method based on the synchronous erection mode as claimed in claim 2, further comprising:
and installing a distance meter on the erector, and measuring the distance between the erector and the reference point by using the distance meter.
4. The automatic erector position adjustment method based on the synchronous erection mode as claimed in claim 2, further comprising:
and installing a code reader on the assembling machine, and scanning by using the code reader to obtain the distance between the assembling machine and the reference point.
5. The method for automatically adjusting the position of a splicing machine based on the synchronous splicing mode as claimed in claim 1, wherein the step of movably adjusting the splicing machine by using the difference value between the measured distance and the target distance comprises the following steps:
calculating to obtain corresponding control parameters by using the difference value between the actual measurement distance and the target distance;
and controlling the assembling machine to translate according to the control parameters.
6. The utility model provides an erector position automatically regulated system based on synchronous mode of assembling which characterized in that includes:
the triggering unit is used for forming a triggering instruction when the shield tunneling machine completes the ring width distance of a ring of pipe pieces;
the acquisition unit is connected with the trigger unit and used for acquiring the distance between the erector and the assembled duct piece adjacent to the current ring duct piece assembling space at the current moment and recording the acquired distance as a target distance when receiving the trigger instruction, and is also used for acquiring the distance between the erector and the assembled duct piece adjacent to the current ring duct piece assembling space in real time and recording the acquired distance as an actual measurement distance in the process of continuously tunneling the shield machine;
the control unit is connected with the erector and the collecting unit, receives the target distance and the measured distance collected by the collecting unit, calculates the difference value of the target distance and the measured distance and controls the erector to move and adjust according to the difference value, so that the relative position between the erector and the assembled segments adjacent to the current annular segment assembling space is kept unchanged.
7. The system for automatically adjusting the position of an erector based on a synchronous assembling mode as claimed in claim 6, wherein a reference point is provided on an assembled segment adjacent to the erector distance adjacent to the current assembling space of the ring pipe segment;
the acquisition unit is used for acquiring the distance between the erector and the reference point, so as to obtain the corresponding target distance and the measured distance.
8. The automatic erector position adjustment system based on a synchronous erection mode as claimed in claim 7, wherein the collecting unit is a distance meter, and the distance meter is mounted on the erector and used for measuring the distance from the erector to the reference point.
9. The automatic erector position adjustment system based on the synchronous erection mode as claimed in claim 7, wherein the collecting unit is a code reader installed on the erector, the code reader is used for scanning to obtain the distance from the erector to the reference point.
10. The automatic erector position adjustment system based on a synchronous erection mode as claimed in claim 6, wherein the control unit calculates corresponding control parameters using the difference values and sends the control parameters to the erector to control the erector to translate.
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Citations (6)

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Publication number Priority date Publication date Assignee Title
FR2624550A1 (en) * 1987-12-10 1989-06-16 Charbonnages De France Process for continuous advancing of a tunnelling machine while a lining is fixed behind it, device for controlling progress adapted to its implementation and a special lining adapted to be fixed according to this process
CN105840201A (en) * 2016-03-29 2016-08-10 中铁工程装备集团有限公司 TBM advancing and duct piece assembling synchronization work method
CN108316934A (en) * 2018-04-18 2018-07-24 中铁二院工程集团有限责任公司 A kind of shield machine of the assembled prefabricated secondary lining function of band
CN110469337A (en) * 2019-09-04 2019-11-19 中交天和机械设备制造有限公司 A kind of method that shield machine tunnels synchronous segment assembly
CN111102256A (en) * 2020-02-26 2020-05-05 中铁工程装备集团有限公司 Multi-mode synchronous propelling and assembling system of shield tunneling machine and control method thereof
CN111396068A (en) * 2020-04-23 2020-07-10 中国铁建重工集团股份有限公司 Tunneling equipment, control method and device of tunneling equipment and readable storage medium

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2624550A1 (en) * 1987-12-10 1989-06-16 Charbonnages De France Process for continuous advancing of a tunnelling machine while a lining is fixed behind it, device for controlling progress adapted to its implementation and a special lining adapted to be fixed according to this process
CN105840201A (en) * 2016-03-29 2016-08-10 中铁工程装备集团有限公司 TBM advancing and duct piece assembling synchronization work method
CN108316934A (en) * 2018-04-18 2018-07-24 中铁二院工程集团有限责任公司 A kind of shield machine of the assembled prefabricated secondary lining function of band
CN110469337A (en) * 2019-09-04 2019-11-19 中交天和机械设备制造有限公司 A kind of method that shield machine tunnels synchronous segment assembly
CN111102256A (en) * 2020-02-26 2020-05-05 中铁工程装备集团有限公司 Multi-mode synchronous propelling and assembling system of shield tunneling machine and control method thereof
CN111396068A (en) * 2020-04-23 2020-07-10 中国铁建重工集团股份有限公司 Tunneling equipment, control method and device of tunneling equipment and readable storage medium

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Inventor after: Qin Yuan

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