CN113945162A - Contact type shield tail clearance measuring system and measuring method thereof - Google Patents
Contact type shield tail clearance measuring system and measuring method thereof Download PDFInfo
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- CN113945162A CN113945162A CN202111198756.8A CN202111198756A CN113945162A CN 113945162 A CN113945162 A CN 113945162A CN 202111198756 A CN202111198756 A CN 202111198756A CN 113945162 A CN113945162 A CN 113945162A
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- 238000010276 construction Methods 0.000 description 10
- 238000010586 diagram Methods 0.000 description 6
- 238000012545 processing Methods 0.000 description 4
- 238000011326 mechanical measurement Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 238000009412 basement excavation Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/14—Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
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Abstract
The invention discloses a contact type shield tail clearance measuring system and a measuring method thereof, wherein the system comprises an upper computer, a control box and a measuring device, the upper computer is controlled and connected to the measuring device through the control box, the measuring device adopts a mechanical contact type shield tail clearance measuring device and is arranged on a shield tail jack shoe plate, the measuring device comprises a mechanical arm, the mechanical arm is in rotary contact with the inner wall of a shield shell and the inner surface of a duct piece under the control of the control box, the upper computer obtains the numerical value of a rotary angle when the mechanical arm is in rotary contact with the inner wall of the shield shell and the inner surface of the duct piece, and the numerical value of a shield tail clearance is calculated. According to the method, the height from the inner surface of the pipe piece to the inner wall of the shield tail shield shell is measured through a mechanical contact type shield tail clearance measuring device, and then the shield tail clearance is calculated. The system has low cost, simple operation and higher measurement precision, and is suitable for the working environment in charge of the shield machine.
Description
Technical Field
The invention relates to the technical field of shield construction, in particular to a contact type shield tail clearance measuring system and a measuring method thereof.
Background
Currently, tunnel construction becomes an essential part in road construction, for example, a tunnel is required to be constructed when a railway and a highway are involved in river crossing or crossing key buildings, urban subways and the like. The shield construction is a construction mode of underground excavation of a tunnel by taking a shield as a core, and occupies a large part of the whole tunnel construction. In the shield construction process, in order to ensure the construction quality and the safety of the tunnel, the distance between the segments assembled into a ring and the shield cavity, namely the shield tail gap, needs to be measured in the whole construction process. Too small a gap typically results in hand hole breakage or longitudinal cracking, affecting the safety of the entire tunnel.
At present, the shield tail clearance measurement mode comprises manual measurement, laser measurement, image processing, mechanical measurement and the like, but the accuracy of most measurement systems is not very high. Meanwhile, the instruments for laser measurement and image processing are relatively precise and have poor adaptability to complex environments, and most of the inside of the shield tunneling machine is wet and has dark light.
Disclosure of Invention
Aiming at the defects existing in the prior art, the invention provides a contact type shield tail clearance measuring system and a measuring method thereof.
In order to achieve the technical effects, the invention provides a contact type shield tail clearance measuring system which comprises an upper computer, a control box and a measuring device, wherein the upper computer is connected to the measuring device in a control mode through the control box, the measuring device is a mechanical contact type shield tail clearance measuring device and is installed on a shield tail jack shoe plate, the measuring device comprises a mechanical arm, the mechanical arm is in rotary contact with the inner wall of a shield shell and the inner surface of a duct piece under the control of the control box, the upper computer obtains the numerical value of a rotary angle when the mechanical arm is in rotary contact with the inner wall of the shield shell and the inner surface of the duct piece, and the numerical value of the shield tail clearance is calculated.
As an embodiment of the system of the present invention, the system further includes a cable reel, and the cable for connecting the control box and the measuring device is stored in the cable reel.
As an embodiment of the system of the present invention, the control box includes a raspberry pi, a communication serial port and a connection terminal row, the raspberry pi is in communication connection with the measuring device through the communication serial port, and the raspberry pi is in communication connection with the upper computer through the connection terminal row.
As an embodiment of the system of the present invention, four measuring devices are provided, and are respectively located at the positions of the upper, lower, left, and right quadrant points of the segment of the tail shield.
As an embodiment of the system of the present invention, after obtaining the numerical value of the rotation angle when the mechanical arm rotates to contact the inner wall of the shield shell and the inner surface of the segment, the height from the inner surface of the segment to the inner wall of the shield shell is obtained by calculating in accordance with the length of the mechanical arm, and the numerical value of the gap between the shield tail and the segment is calculated by subtracting the thickness of the segment.
As an embodiment of the system of the present invention, the robot arm includes an upper swing arm and a lower swing arm; the first end of the upper swing arm is suspended, the second end of the upper swing arm is rotatably connected to the first end of the lower swing arm and is driven to rotate by a steering engine, the second end of the lower swing arm is rotatably connected to a base and is driven to rotate by another steering engine, and the base is fixed on the jack boot plate.
As an embodiment of the system of the present invention, a calculation formula of the shield tail clearance is as follows: j ═ D cos β1-S sinα1+S sinα2+D cosβ2-G
Wherein J is the shield tail clearance, S is the upper swing arm length, D is the lower swing arm length, alpha1The included angle between the upper swing arm and the horizontal plane when the upper swing arm is in rotating contact with the inner surface of the duct piece is alpha2The angle beta between the upper swing arm and the horizontal plane when the upper swing arm rotates and contacts the inner wall of the shield shell1Is the included angle beta between the lower swing arm and the vertical plane when the upper swing arm contacts the inner surface of the pipe piece2Do go up the swing arm contact during the shield shell inner wall the contained angle of swing arm and perpendicular down, G is section of jurisdiction thickness.
The invention also provides a contact shield tail clearance measuring method adopting the contact shield tail clearance measuring system, which comprises the following steps:
mounting a measuring device on a shoe plate of a shield tail jack, so that the mechanical arm is not contacted with the inner wall of the shield shell and the inner surface of the duct piece;
the upper computer sends out a measuring signal, and the control box controls the mechanical arm of the measuring device to rotate successively until the mechanical arm contacts with the inner wall of the shield shell and the inner surface of the duct piece, and the rotation is stopped when the mechanical arm contacts with the inner wall of the shield shell and the inner surface of the duct piece;
and the upper computer obtains the numerical value of the rotation angle when the mechanical arm rotates and contacts the inner wall of the shield shell and the inner surface of the duct piece in sequence, and calculates the numerical value of the gap between the shield tail and the duct piece.
As an embodiment of the method, four measuring devices are respectively located at the upper, lower, left and right quadrant points of the shield tail duct piece, the upper computer controls the mechanical arms of the four measuring devices to sequentially rotate to contact with the inner wall of the shield shell and the inner surface of the duct piece, and the numerical value of the shield tail clearance at the four quadrant points is calculated.
As an embodiment of the method, after the numerical value of the rotation angle when the mechanical arm rotates to contact the inner wall of the shield shell and the inner surface of the duct piece is obtained, the height from the inner surface of the duct piece to the inner wall of the shield shell is obtained by calculating in accordance with the length of the mechanical arm, and the numerical value of the gap between the shield tail and the duct piece is calculated by subtracting the thickness of the duct piece.
According to the method, the height from the inner surface of the pipe piece to the inner wall of the shield tail shield shell is measured through four mechanical contact type shield tail clearance measuring devices, and then the shield tail clearance at four positions is calculated. The system has low cost, simple operation and higher measurement precision, and is suitable for the working environment in charge of the shield machine.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a contact shield tail clearance measurement system according to an embodiment of the present invention.
Fig. 2 is a schematic view of a display interface controlled by a host computer in the embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a control box in an embodiment of the invention.
Fig. 4 is a schematic structural diagram of a measuring apparatus according to an embodiment of the present invention.
Fig. 5 is a schematic diagram of the detection position 1# in the embodiment of the present invention, and the detection position 1# is the height from the inner surface of the detection pipe piece to the reference point.
Fig. 6 is a schematic diagram of the detection position 2# in the embodiment of the present invention, and the detection position 2# is the height from the inner wall of the detection shield to the reference point.
Fig. 7 is a schematic view of an installation structure of the measuring device and the shield tail jack in the embodiment of the invention.
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 derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The segment selection means that shield segments are flexibly selected, so that the requirement of line advancing related to fitting is met, and the forming quality of the segments is ensured. The shield tail clearance is one of the important bases of segment selection, the accurate shield tail clearance value is the basic guarantee of segment forming quality, and meanwhile, the shield tail and the segment in the shield propelling process can be interfered due to the undersize of the shield tail clearance. The current measurement mode of the shield tail clearance is mainly manual measurement, although a laser measurement system, an image processing measurement system or other mechanical measurement systems exist in the market, the laser measurement system, the image processing measurement system or other mechanical measurement systems are mostly influenced by construction environment and other factors, and large errors are generated.
Aiming at the problems, the invention provides a novel contact type shield tail clearance measuring system and a measuring method thereof. The system has low cost, simple operation and higher measurement precision, and is suitable for the working environment in charge of the shield machine.
Referring to fig. 1, a contact shield tail clearance measuring system according to an embodiment of the present invention includes an upper computer 11, a control box 12 and a measuring device 13, the upper computer 11 is controlled by the control box 12 to be coupled to the measuring device 13, the measuring device 13 is a mechanical contact shield tail clearance measuring device and is mounted on a shoe plate 151 of a shield tail jack 15 during use, as shown in fig. 7, the measuring device 13 further includes a mechanical arm, the mechanical arm is controlled by the control box to rotationally contact an inner wall of a shield shell 22 and an inner surface of a duct piece 21, the upper computer obtains a value of a rotational angle of the mechanical arm when the mechanical arm is rotationally contacted with the inner wall of the shield shell 22 and the inner surface of the duct piece 21, and indirectly calculates a value of a shield tail clearance.
Preferably, the contact shield tail clearance measuring system according to the embodiment of the present invention further includes a cable drum 14, and the cable for connection between the control box 12 and the measuring device 13 is accommodated in the cable drum 14.
Preferably, the system is provided with four measuring devices 13 which are respectively positioned at the upper, lower, left and right quadrant points of the shield tail duct piece 21, and can measure the shield tail clearance at four positions in real time.
The following specific description of each part of the contact shield tail clearance measurement system according to the embodiment of the present invention is as follows:
(I) host computer 11
The upper computer 11 is mainly used for the operation of the whole measuring process and the display and storage of the final measuring result. Meanwhile, the upper computer 11 can also add a function of printing a report form, can generate a written file from a measurement result of the current tail gap of the shield, and is easily realized through computer software and programs. The operation interface of the upper computer can refer to fig. 2, wherein the values of the 'segment thickness' and the 'segment model' can be automatically input by an operator according to actual conditions, the numerical values of four blank spaces, namely, a 'left shield tail gap', a 'right shield tail gap', an 'upper shield tail gap' and a 'lower shield tail gap', are respectively obtained by four measuring devices 13 arranged at corresponding positions, a 'start measuring' button is clicked, the measuring devices enter measurement, a 'generation report' is clicked, and the system automatically generates the report according to the measurement result of the measuring devices.
(II) control box 12
The control box 12 internally comprises a raspberry group 121, a communication serial port 122 and a connecting terminal row 123, the raspberry group 121 is in communication connection with the measuring device 13 through the communication serial port 122, the raspberry group 121 is in communication connection with the upper computer 11 through the connecting terminal row 123, each measuring process of the measuring device 13 is realized through the control box 12, and the internal structure of the control box 12 is shown in fig. 3.
(III) Cable drum 14
Control box 12 is connected with measuring device 13 through reel cable, because measuring device 13 installs the side at the boots board of shield tail jack, in order to avoid the influence of circuit to shield structure machine and constructor, has accomodate five meters's cable in the cable reel 14, can be fine follow jack extension or shrink.
(IV) measuring device 13
The measuring device 13 adopts a mechanical contact type shield tail clearance measuring device, and the numerical value of the shield tail clearance is indirectly calculated by contacting the inner wall of the shield shell and the inner surface of the duct piece through the rotation of the mechanical arm. Wherein the robot arm further comprises an upper swing arm 131 and a lower swing arm 132; both ends of the upper swing arm 131 are respectively formed in a cylindrical shape, a first end of the lower swing arm 132 is formed as a rectangular-shaped first base 133, and a second end of the lower swing arm 132 is formed in a cylindrical shape. The outer surface of the first end of the upper swing arm 131 is used for contacting the inner surface of the segment 21 and the inner wall of the shield shell 22, the second end of the upper swing arm 131 is rotatably arranged in the first base 133 at the first end of the lower swing arm 132, and is driven to rotate by a steering engine 16 (or a motor); the second end of the lower swing arm 132 is rotatably mounted in a second base 134, and is driven by another steering engine 16 (or a motor) to rotate, the second base 134 is fixedly mounted on a shoe plate 151 of the jack 15, and the center of the circle of the cylindrical second end of the lower swing arm 132 is used as a reference point for calculating the shield tail clearance.
The measurement principle of the contact type shield tail clearance measurement system is as follows:
principle of control box
The control box 12 mainly contains a raspberry pi 121 and a communication serial port 122. The raspberry pie 121 is communicated with the two steering engines 16 in the measuring device 13 through the communication serial port 122. After the raspberry pi 121 runs the program code, the measuring device 13 will perform the corresponding detection operation. Program functions include data interfacing and control of the device.
Principle of measuring mode
The measuring device 13 comprises a base, a steering engine 16 and a mechanical arm, the height from the inner surface of the duct piece to the inner wall of the shield shell is indirectly calculated by touching objects by the mechanical arm, and the thickness of the duct piece is fixed, so that the numerical value of the gap between the shield tail and the shield shell is calculated. Particularly, the inner surface of the duct piece to the inner wall of the shield shell is indirectly calculated by touching the object by the mechanical arm, the numerical value of the rotation angle of the mechanical arm when the mechanical arm rotates to contact the inner wall of the shield shell and the inner surface of the duct piece can be obtained, the height from the inner surface of the duct piece to the inner wall of the shield shell is obtained by matching with the length calculation of the mechanical arm, the thickness of the duct piece is subtracted, and the numerical value of the gap between the shield tail and the duct piece is calculated.
The whole measuring process is divided into two steps, wherein the detection position 1# is the height h1 from the inner surface of the detection pipe piece to the reference point, the detection position 2# is the height h2 from the inner wall of the detection shield shell to the reference point, and the schematic diagram is shown in fig. 5-7.
The formula for calculating the shield tail clearance is as follows: j ═ D cos β1-S sinα1+S sinα2+D cosβ2-G
In the formula:
j is the shield tail clearance;
s is the length between the central points of the cylinders at the two ends of the upper swing arm;
d is the length from the center point of one end of the lower swing arm cylinder to the center point of one quarter of the rectangular base, in the embodiment, the center point of the cylinder at the second end of the upper swing arm is superposed with the center point of one quarter of the rectangular base at the first end of the lower swing arm and is a rotating center, and the center point of the cylinder at the second end of the lower swing arm is superposed with the center point of one quarter of the shoe plate base and is a rotating center;
α1the included angle between the upper swing arm and the horizontal plane is formed when the upper swing arm is in rotating contact with the inner surface of the pipe piece;
α2the angle between the upper swing arm and the horizontal plane is formed when the upper swing arm rotates to contact the inner wall of the shield shell;
β1when the upper swing arm contacts the inner surface of the pipe piece, the lower swing arm forms an included angle with the vertical plane;
β2when the upper swing arm contacts the inner wall of the shield shell, the lower swing arm forms an included angle with the vertical plane;
g is the thickness of the tube sheet.
The following describes a contact shield tail clearance measurement method according to the present invention with reference to the contact shield tail clearance measurement system in the above embodiment, including the following steps:
the first step is as follows: the four measuring devices 13 are respectively arranged on shoe plates of the shield tail jack at the positions of four quadrant points, then the controller 12 is connected to an upper computer, at the moment, the measuring devices are in a standby state, and the mechanical arm is folded and does not contact with the inner wall of the shield shell and the inner surface of the segment of a pipe.
The second step is that: when the device is ready to measure, firstly, the upper computer 11 sends out a preparation signal, the controller 12 controls the measuring device 13 to enter a preparation state from a standby state after receiving the preparation signal, the two steering engines 16 are started, the steering wheel rotates to a set state, the upper swing arm is parallel to the horizontal plane after the steering wheel is started, and the lower swing arm and the vertical plane form a fixed included angle.
The third step: when the measurement is started, the upper computer 11 sends out a measurement signal, the upper swing arm 131 rotates downwards, and the detection is carried out when the upper swing arm touches the inner surface of the duct pieceWhen the position is detected, as shown in fig. 5, the controller 12 detects that the electric signal of the steering engine 16 changes suddenly, and the steering engine 16 stops moving. At this time, the included angle between the rotation position of the upper swing arm 131 and the horizontal plane is α1(the steering engine feeds back the potentiometer through the installation position to easily obtain the angle position), and simultaneously the lower swing arm 132 slightly moves backwards to ensure that the cylindrical outer surface of the first end of the upper swing arm 131 completely contacts the inner surface of the pipe sheet, and the included angle between the lower swing arm 132 and the vertical plane after moving in place is beta1。
The fourth step: after the measurement of the relative height of the duct piece is completed, the lower swing arm 132 rotates backwards (in the direction away from the duct piece) by 180 degrees, and the upper swing arm 131 enters a state to be measured. When the relative height of the shield shell starts to be detected, the upper swing arm 131 rotates downwards, and the shield shell is detected in place when touching the inner wall of the shield shell. At this time, the included angle alpha between the upper swing arm 131 and the horizontal plane is recorded2And the angle beta between the lower swing arm 132 and the vertical plane2. And returning the measuring device to the initial state after detection is finished.
The fifth step: measuring device 13 mounted position is fixed, and the distance at swing arm 131 both ends tie point center is D down, and the length of going up swing arm both ends central point is S, and the cylindrical radius that lower swing arm second end is used for contacting the shield shell of section of jurisdiction is r (offset around the actual computation), and G is the thickness of section of jurisdiction, and is finally through formula J ═ D cos beta1-S sinα1+S sinα2+D cosβ2G, calculating the value of the shield tail clearance J.
According to the contact type shield tail clearance measuring system and the measuring method thereof, the whole system is convenient to install, strong in environmental adaptability, low in cost and high in measuring accuracy and precision. The measuring device is small in size, simple in maintenance, free of influence on field personnel operation and strong in measuring environment adaptability. Constructors control the whole process through an upper computer, the operation is simple, the measurement precision is high, and data are convenient to store and query.
The parts not involved in the present invention are the same as or can be implemented by the prior art. Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. A contact type shield tail clearance measuring system is characterized by comprising an upper computer, a control box and a measuring device, wherein the upper computer is connected to the measuring device in a control mode through the control box, the measuring device adopts a mechanical contact type shield tail clearance measuring device and is installed on a shield tail jack shoe plate, the measuring device comprises a mechanical arm, the mechanical arm is in rotating contact with the inner wall of a shield shell and the inner surface of a duct piece under the control of the control box, the upper computer obtains the numerical value of the rotating angle of the mechanical arm when the mechanical arm is in rotating contact with the inner wall of the shield shell and the inner surface of the duct piece, and the numerical value of the shield tail clearance is calculated.
2. The contact shield tail clearance measuring system of claim 1, further comprising a cable drum, wherein a cable for connection between the control box and the measuring device is received in the cable drum.
3. The contact type shield tail clearance measuring system according to claim 1, wherein the control box comprises a raspberry pi, a communication serial port and a connecting terminal row, the raspberry pi is in communication connection with the measuring device through the communication serial port, and the raspberry pi is in communication connection with the upper computer through the connecting terminal row.
4. The contact shield tail clearance measuring system of claim 1, wherein the number of the measuring devices is four, and the four measuring devices are respectively positioned at four quadrant points of the upper, lower, left and right segments of the shield tail pipe.
5. The contact shield tail clearance measuring system of claim 1, wherein after obtaining the value of the rotation angle when the mechanical arm rotates to contact the inner wall of the shield shell and the inner surface of the segment, the height from the inner surface of the segment to the inner wall of the shield shell is obtained by calculating the length of the mechanical arm, and the value of the shield tail clearance is calculated by subtracting the thickness of the segment.
6. The contact shield tail clearance measurement system of claim 1, wherein the robotic arm comprises an upper swing arm and a lower swing arm; the first end of the upper swing arm is suspended, the second end of the upper swing arm is rotatably connected to the first end of the lower swing arm and is driven to rotate by a steering engine, the second end of the lower swing arm is rotatably connected to a base and is driven to rotate by another steering engine, and the base is fixed on the jack boot plate.
7. The contact shield tail clearance measurement system of claim 6, wherein the formula for calculating the shield tail clearance is: j ═ Dcos beta1-Ssinα1+Ssinα2+Dcosβ2-G
Wherein J is the gap between the shield tails, S is the length of the upper swing arm, D is the length of the lower swing arm, alpha1The included angle between the upper swing arm and the horizontal plane when the upper swing arm is in rotating contact with the inner surface of the duct piece is alpha2The angle beta between the upper swing arm and the horizontal plane when the upper swing arm rotates and contacts the inner wall of the shield shell1Is the included angle beta between the lower swing arm and the vertical plane when the upper swing arm contacts the inner surface of the pipe piece2Do go up the swing arm contact during the shield shell inner wall the contained angle of swing arm and perpendicular down, G is section of jurisdiction thickness.
8. A contact shield tail clearance measurement method using the contact shield tail clearance measurement system according to any one of claims 1 to 7, comprising the steps of:
mounting a measuring device on a shoe plate of a shield tail jack, so that the mechanical arm is not contacted with the inner wall of the shield shell and the inner surface of the duct piece;
the upper computer sends out a measuring signal, and the control box controls the mechanical arm of the measuring device to rotate successively until the mechanical arm contacts with the inner wall of the shield shell and the inner surface of the duct piece, and the rotation is stopped when the mechanical arm contacts with the inner wall of the shield shell and the inner surface of the duct piece;
and the upper computer obtains the numerical value of the rotation angle when the mechanical arm rotates and contacts the inner wall of the shield shell and the inner surface of the duct piece in sequence, and calculates the numerical value of the gap between the shield tail and the duct piece.
9. The method for measuring the clearance between the shield tails according to claim 1, wherein four measuring devices are respectively located at the upper, lower, left and right quadrant points of the shield tail duct piece, the upper computer simultaneously controls the mechanical arms of the four measuring devices to sequentially rotate to contact the inner wall of the shield shell and the inner surface of the duct piece, and the numerical value of the clearance between the shield tails at the four quadrant points is calculated.
10. The method for measuring the clearance between the shield tail and the shield shell according to claim 1, wherein after the numerical value of the rotation angle of the mechanical arm when the mechanical arm rotates to contact the inner wall of the shield shell and the inner surface of the segment is obtained, the height from the inner surface of the segment to the inner wall of the shield shell is obtained by calculating the length of the mechanical arm, and the numerical value of the clearance between the shield tail and the shield shell is calculated by subtracting the thickness of the segment.
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| CN105571555A (en) * | 2015-12-14 | 2016-05-11 | 武汉船用机械有限责任公司 | Measuring device of shield tail gap of shield tunneling machine and measuring method thereof |
| CN109373900A (en) * | 2018-12-03 | 2019-02-22 | 安徽理工大学 | A kind of articulated arm coordinate measuring machine from driving |
| CN110174084A (en) * | 2019-06-18 | 2019-08-27 | 中铁隧道局集团有限公司 | A kind of mechanical gap of the shield tail measuring device |
| CN211651507U (en) * | 2020-04-30 | 2020-10-09 | 中铁工程装备集团有限公司 | Novel mechanical shield tail clearance measuring device |
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