CN115614041A - Method for calculating shield tail clearance distribution characteristics of shield tunneling machine - Google Patents

Method for calculating shield tail clearance distribution characteristics of shield tunneling machine Download PDF

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Publication number
CN115614041A
CN115614041A CN202211019077.4A CN202211019077A CN115614041A CN 115614041 A CN115614041 A CN 115614041A CN 202211019077 A CN202211019077 A CN 202211019077A CN 115614041 A CN115614041 A CN 115614041A
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China
Prior art keywords
shield
coordinate system
pose
tail clearance
shield tail
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CN202211019077.4A
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Chinese (zh)
Inventor
金大龙
袁大军
王旭阳
陈健
王承震
王志成
于文端
孙腾云
杨公标
杜昌言
李秀东
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Beijing Jiaotong University
China Railway 14th Bureau Group Co Ltd
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Beijing Jiaotong University
China Railway 14th Bureau Group Co Ltd
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Priority to CN202211019077.4A priority Critical patent/CN115614041A/en
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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
    • 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
    • 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
    • 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

Abstract

The invention provides a method for calculating shield tail clearance distribution characteristics of a shield tunneling machine. The method comprises the following steps: determining geometric size parameters of a shield machine and a duct piece; establishing a shield tunneling pose coordinate system, and determining shield tunneling pose information based on a shield guide system; determining a shield position and posture transformation matrix representing the geometric position relation between the shield tunneling machine and the duct piece according to the shield tunneling position and posture information; and establishing a shield tail clearance calculation model according to the shield machine and duct piece geometric dimension parameters and the shield position and posture transformation matrix, and calculating the circumferential and longitudinal distribution characteristics of the shield tail clearance under the given shield position and posture by utilizing the shield position and posture transformation matrix based on the shield tail clearance calculation model. The method accurately describes the distribution characteristics of the shield tail clearance in the circumferential direction and the longitudinal direction, and can provide a theoretical basis for the realization of shield attitude control and deviation correction, segment dynamic selection, wall back parameterization and other technologies.

Description

Method for calculating shield tail gap distribution characteristics of shield machine
Technical Field
The invention relates to the technical field of shield tail clearance measurement, in particular to a method for calculating shield tail clearance distribution characteristics of a shield tunneling machine.
Background
The shield method is widely adopted in the field of tunnel construction by virtue of unique advantages of safety, high efficiency and environmental protection. In the tunneling process of the shield, the tunneling pose of the shield needs to be continuously adjusted to track the design axis of the tunnel. Due to the adjustment of the shield pose, the gap between the inner arc surface of the shield tail and the outer arc surface of the duct piece, namely the gap of the shield tail, can be correspondingly changed in the circumferential direction and the longitudinal direction. When the shield tail clearance is too small, the shield tail can extrude the section of jurisdiction, causes the section of jurisdiction to stagger or damaged, and shield tail brush receives great extrusion force simultaneously, and shield constructs the easy wearing and tearing of long distance tunnelling shield tail brush and elastic failure under this kind of circumstances, and then leads to shield tail seal failure, causes the construction accident. Therefore, the distribution characteristics of the shield tail clearance must be accurately mastered in the shield tunneling process, and safety accidents caused by the fact that the shield tail clearance exceeds an allowable value are avoided. In addition, the shield attitude control and deviation correction, the segment dynamic selection, the parametric grouting behind the wall and other technologies also strictly depend on the solution of the distribution characteristics of the shield tail clearance in the circumferential direction and the longitudinal direction.
At present, a shield tail clearance measuring method in the prior art mainly depends on a measuring means to obtain the shield tail clearance. The disadvantages of this method include: the measured value of the shield tail clearance has larger errors due to factors such as complex field environment, measurement means limitation, artificial reading deviation and the like. In addition, because the shield tail clearance measurement is generally to measure the clearance values of four points of the upper, lower, left and right sides of the shield tail, the distribution characteristic of the shield tail clearance in a certain cross section along the circumferential direction can only be roughly represented, the longitudinal distribution characteristic of the shield tail clearance along the axis of the shield tunneling machine is neglected, and the distribution characteristic of the shield tail clearance in the longitudinal direction cannot be obtained.
Disclosure of Invention
The embodiment of the invention provides a method for calculating shield tail clearance distribution characteristics of a shield tunneling machine, which is used for effectively acquiring the distribution characteristics of shield tail clearances in the circumferential direction and the longitudinal direction.
In order to achieve the purpose, the invention adopts the following technical scheme.
A method for calculating shield tail gap distribution characteristics of a shield tunneling machine comprises the following steps:
determining geometric size parameters of a shield machine and a duct piece;
establishing a shield tunneling pose coordinate system;
determining shield tunneling pose information based on a shield guiding system;
determining a shield position and posture transformation matrix capable of representing the geometric position relation between the shield tunneling machine and the duct piece according to the shield tunneling position and posture information;
and establishing a shield tail clearance calculation model according to the geometric dimension parameters of the shield machine and the duct piece and the shield pose transformation matrix, and calculating the circumferential and longitudinal distribution characteristics of the shield tail clearance under the given shield pose by utilizing the shield pose transformation matrix based on the shield tail clearance calculation model.
Preferably, the shield machine andthe geometric size parameters of the pipe piece comprise: inner radius of shield tail D r Segment outer diameter D S Length L of inner tube of shield tail c 。
Preferably, the establishing of the shield tunneling pose coordinate system includes: establishing a moving coordinate system { B } fixedly connected on the shield tunneling machine and a base coordinate system { A } fixedly connected on the segment ring;
the dynamic coordinate system { B-xByBzB } is fixedly connected to a middle shield back plate, an original point B is the distribution center of a spherical hinge in front of an oil cylinder, in an initial state, an xB shaft points to the shield tunneling direction along the central axis of the shield tunneling machine, a zB shaft is perpendicular to the central axis of the shield tunneling machine and vertically upwards, and the yB shaft direction is determined according to the right-hand principle;
and the base coordinate system { A-xyz } is fixedly connected to a tube sheet ring providing counterforce for the propulsion oil cylinder, the origin A is the distribution center of the rear spherical hinge of the oil cylinder, and in an initial state, the coordinate axes of the base coordinate system { A-xyz } and the movable coordinate system { B-xByBzB } are correspondingly parallel.
Preferably, the shield tunneling pose information includes: shield pose vector
q＝[x y zψθφ] T Wherein (x, y, z) represents the position coordinate of the center of a spherical hinge distribution circle in front of a propulsion oil cylinder of the shield tunneling machine; (ψ, θ, φ) represents three attitude angles of the shield tunneling machine: roll angle, pitch angle, and yaw angle.
Preferably, the shield pose transformation matrix has a calculation formula as follows:
Figure BDA0003813399740000031
wherein the content of the first and second substances,
Figure BDA0003813399740000032
and
Figure BDA0003813399740000033
respectively representing the attitude matrix and the position vector of the shield, and the calculation formula is as follows:
Figure BDA0003813399740000034
Figure BDA0003813399740000035
wherein c represents a cosine function cos; s denotes a sine function sin.
Preferably, the establishing of the shield tail clearance calculation model according to the geometric size parameters of the shield tunneling machine and the duct piece and the shield pose transformation matrix, and the calculating of the circumferential and longitudinal distribution characteristics of the shield tail clearance in the given shield pose by using the shield pose transformation matrix based on the shield tail clearance calculation model comprises the following steps:
establishing a shield tail clearance calculation model according to the geometric dimension parameters of the shield machine and the duct piece and the shield pose transformation matrix, wherein the formula is as follows:
Figure BDA0003813399740000036
wherein the content of the first and second substances, A s is a position vector of any point S on the inner side of the shield tail under a base coordinate system { A }; j and k are unit direction vectors of a y axis and a z axis of the base coordinate system { A } respectively;
Figure BDA0003813399740000037
wherein the content of the first and second substances, B s is a position vector of any point S on the inner side of the shield tail in a moving coordinate system { B }, and is expressed as:
Figure BDA0003813399740000038
wherein the content of the first and second substances,
Figure BDA0003813399740000039
is a projection point S of the point S on the xB axis of the shield axis instant coordinate system O The x coordinate in the moving coordinate system B,
Figure BDA00038133997400000310
eta is the included angle between the point S and the xB axis of the moving coordinate system, and eta belongs to [0 DEG, 360 DEG]；
Then equations (1) - (6) are combined, and the calculation equation for obtaining the shield tail clearance is:
Figure BDA0003813399740000041
wherein R is r ＝D r And/2, representing the inner radius of the shield tail, c representing a cosine function cos, s representing a sine function sin, and solving the distribution characteristics of the shield tail clearance in the circumferential direction and the longitudinal direction by substituting related parameters in a formula (7).
According to the technical scheme provided by the embodiment of the invention, the method for calculating the distribution characteristics of the shield tail clearance of the shield tunneling machine accurately describes the distribution characteristics of the shield tail clearance in the circumferential direction and the longitudinal direction, and can provide a theoretical basis for the realization of technologies such as shield attitude control and deviation correction, dynamic duct piece selection, wall back parameterization and the like.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a processing flow chart of a method for calculating a shield tail gap distribution characteristic of a shield tunneling machine according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a shield tail clearance solution model according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a shield tail gap distribution according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or coupled. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
For the convenience of understanding of the embodiments of the present invention, the following detailed description will be given by way of example with reference to the accompanying drawings, and the embodiments are not limited to the embodiments of the present invention.
The invention aims to overcome the defect of acquiring a shield gap by adopting a measuring means, and provides a method for calculating the distribution characteristics of the shield tail gap of a shield machine, which accurately describes the distribution characteristics of the shield tail gap in the circumferential direction and the longitudinal direction.
Example one
The processing flow of the method for calculating the shield tail gap distribution characteristics of the shield tunneling machine provided by the embodiment of the invention is shown in fig. 1, and the method comprises the following steps:
step S1: and determining geometric size parameters of the shield tunneling machine and the segment.
Determining geometric size parameters of the shield tunneling machine and the duct piece, comprising the following steps: inner radius of shield tail D r And the outer diameter D of the pipe piece S Length L of inner tube of shield tail c 。
Step S2: and establishing a shield tunneling pose coordinate system.
Two coordinate systems are established: a moving coordinate system { B } fixedly connected on the shield tunneling machine and a base coordinate system { A } fixedly connected on the segment ring.
Constructing a dynamic coordinate system { B-xByBzB }, wherein the coordinate system is fixedly connected to a middle shield back plate, an original point B is a distribution center of a spherical hinge in front of an oil cylinder, in an initial state, an xB shaft points to the shield tunneling direction along the central axis of the shield tunneling machine, a zB shaft is perpendicular to the central axis of the shield tunneling machine and is vertically upward, and a yB shaft direction is determined according to the right-hand principle;
and constructing a base coordinate system { A-xyz }, wherein the coordinate system is fixedly connected to a tube sheet ring providing counterforce for the propulsion oil cylinder, an original point A is a distribution center of a rear spherical hinge of the oil cylinder, and in an initial state, coordinate axes of the base coordinate system { A-xyz } and a moving coordinate system { B-xByBzB } are correspondingly parallel.
And step S3: and determining shield tunneling pose information based on the shield guiding system.
Shield pose vector q = [ x y z ψ theta phi ]] T . Wherein (x, y, z) represents the position coordinate of the center of a spherical hinge distribution circle in front of a propulsion oil cylinder of the shield tunneling machine; (ψ, θ, φ) represents three attitude angles of the shield tunneling machine: roll angle, pitch angle, and yaw angle.
And step S4: and determining a shield position transformation matrix according to the shield tunneling position information.
The calculation formula of the shield pose transformation matrix is as follows:
Figure BDA0003813399740000061
wherein, the first and the second end of the pipe are connected with each other,
Figure BDA0003813399740000062
and
Figure BDA0003813399740000063
respectively representing the attitude matrix and the position vector of the shield, and the calculation formula is
Figure BDA0003813399740000064
Figure BDA0003813399740000065
Wherein c represents a cosine function cos; s denotes a sine function sin.
Step S5: and establishing a shield tail clearance calculation model according to the geometric dimension parameters of the shield machine and the duct piece and the shield pose transformation matrix, and calculating the circumferential and longitudinal distribution characteristics of the shield tail clearance under the given shield pose.
Establishing a shield tail clearance calculation model according to the geometric dimension parameters of the shield machine and the duct piece and the shield pose transformation matrix, wherein the formula is as follows:
Figure BDA0003813399740000071
wherein the content of the first and second substances, A s is a position vector of any point S on the inner side of the shield tail under a base coordinate system { A }; j and k are the unit direction vectors of the y-axis and z-axis of the base coordinate system { A }, respectively.
Figure BDA0003813399740000072
Wherein, the first and the second end of the pipe are connected with each other, B s is any point S on the inner side of the shield tail in a moving coordinate system { B }Can be expressed as
Figure BDA0003813399740000073
Wherein, the first and the second end of the pipe are connected with each other,
Figure BDA0003813399740000074
is a projection point S of the point S on the xB axis of the shield axis instant coordinate system O X coordinate in the dynamic coordinate system B,
Figure BDA0003813399740000075
eta is the included angle between the point S and the xB axis of the moving coordinate system, and eta belongs to [0 DEG, 360 DEG]。
Then equations (1) - (6) are combined, and the calculation equation of the shield tail clearance can be obtained as follows:
Figure BDA0003813399740000076
wherein R is r ＝D r (ii)/2, representing the inner radius of the shield tail; c represents the cosine function cos; s represents a sine function sin, and the distribution characteristics of the shield tail clearance in the circumferential direction and the longitudinal direction are obtained by substituting related parameters in formula (7).
Example two
The embodiment of the invention provides a method for calculating the shield tail clearance distribution characteristics of a shield tunneling machine, which comprises the following steps:
the method comprises the following steps: determining geometric size parameters of the shield tunneling machine and the duct piece, comprising the following steps: inner radius of tail of shield D r =6.71m; segment outside diameter D S =6.60m; length L of duct piece in shield tail c ＝4.00m。
Step two: and establishing a shield tunneling pose coordinate system.
Fig. 2 is a schematic diagram of a shield tail clearance solution model provided in an embodiment of the present invention, and as shown in fig. 2, two coordinate systems are established: a moving coordinate system { B } fixedly connected on the shield tunneling machine and a base coordinate system { A } fixedly connected on the segment ring;
and constructing a dynamic coordinate system { B-xByBzB }, wherein the coordinate system is fixedly connected to a middle shield back plate, an original point B is a distribution center of a spherical hinge in front of the oil cylinder, in an initial state, an xB axis points to the shield tunneling direction along the central axis of the shield tunneling machine, a zB axis is perpendicular to the central axis of the shield tunneling machine and vertically upwards, and a yB axis direction is determined according to a right-hand principle.
And constructing a base coordinate system { A-xyz }, wherein the coordinate system is fixedly connected to a tube sheet ring providing counterforce for the propulsion oil cylinder, an original point A is the distribution center of a rear spherical hinge of the oil cylinder, and in an initial state, each coordinate axis of the base coordinate system { A-xyz } and each coordinate axis of the moving coordinate system { B-xByBzB } are correspondingly parallel.
Step three: determining shield tunneling pose information based on a shield guiding system, wherein the shield tunneling pose information comprises a shield pose vector q = [ x y z psi theta phi ]] T The parameters can be acquired by a guiding system of the shield tunneling machine; in this example, q is taken 0 ＝[3.5m 0.01m 0.01m 1° 0.1° 0.1°] T 。
Step four: determining a shield position and posture transformation matrix according to the shield tunneling position and posture information;
the shield pose change matrix can be determined according to the formula (1) as follows:
Figure BDA0003813399740000081
step five: and calculating the shield tail clearance under the given shield pose according to the shield tail clearance calculation model.
Fig. 3 is a schematic diagram of distribution of shield tail gaps provided in an embodiment of the present invention, as shown in fig. 3, a shield tail gap in a given shield pose is calculated, and a calculation formula of the shield tail gap is as follows:
Figure BDA0003813399740000082
wherein R is r ＝D r And/2, representing the inner radius of the shield tail, c represents a cosine function cos, and s represents a sine function sin. The distribution characteristics of the shield tail clearance in the circumferential direction and the longitudinal direction can be obtained by substituting the relevant parameters into the formula.
In summary, the embodiments of the present invention provide a method for calculating the distribution characteristics of the shield tail clearance of a shield tunneling machine, which accurately describes the distribution characteristics of the shield tail clearance in the circumferential direction and the longitudinal direction, and can provide a theoretical basis for the implementation of the shield attitude control and deviation correction, the segment dynamic selection, the wall back parameterization, and other technologies.
The method for calculating the shield tail clearance distribution characteristics of the shield tunneling machine is not influenced by complex construction environments, the solution precision of the shield tail clearance is higher than that of a measurement means, the distribution characteristics of the shield tail clearance in the circumferential direction and the longitudinal direction can be given at the same time, and the method is more complete.
Those of ordinary skill in the art will understand that: the figures are schematic representations of one embodiment, and the blocks or processes shown in the figures are not necessarily required to practice the present invention.
From the above description of the embodiments, it is clear to those skilled in the art that the present invention can be implemented by software plus necessary general hardware platform. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which may be stored in a storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the embodiments or some parts of the embodiments.
All the embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, apparatus or system embodiments, which are substantially similar to method embodiments, are described in relative ease, and reference may be made to some descriptions of method embodiments for related points. The above-described embodiments of the apparatus and system are merely illustrative, and the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
While the invention has been described with reference to specific preferred embodiments, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the following claims. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (6)

1. A method for calculating the shield tail gap distribution characteristics of a shield tunneling machine is characterized by comprising the following steps:
determining geometric size parameters of a shield machine and a segment;
establishing a shield tunneling pose coordinate system;
determining shield tunneling pose information based on a shield guidance system;
determining a shield position and posture transformation matrix capable of representing the geometric position relationship between the shield tunneling machine and the duct piece according to the shield tunneling position and posture information;
and establishing a shield tail clearance calculation model according to the geometric dimension parameters of the shield machine and the duct piece and the shield pose transformation matrix, and calculating the circumferential and longitudinal distribution characteristics of the shield tail clearance under the given shield pose by utilizing the shield pose transformation matrix based on the shield tail clearance calculation model.
2. The method of claim 1, wherein the shield tunneling machine and segment geometry parameters comprise: inner radius of shield tail D r And the outer diameter D of the pipe piece S Length L of inner tube of shield tail c 。
3. The method according to claim 2, wherein the establishing of the shield tunneling pose coordinate system comprises: establishing a moving coordinate system { B } fixedly connected on the shield tunneling machine and a base coordinate system { A } fixedly connected on the segment ring;
the dynamic coordinate system { B-xByBzB } is fixedly connected to a middle shield back plate, an original point B is the distribution center of a spherical hinge in front of an oil cylinder, in an initial state, an xB shaft points to the shield tunneling direction along the central axis of the shield tunneling machine, a zB shaft is perpendicular to the central axis of the shield tunneling machine and vertically upwards, and the yB shaft direction is determined according to the right-hand principle;
and the base coordinate system { A-xyz } is fixedly connected to a tube sheet ring providing counterforce for the propulsion oil cylinder, the origin A is the distribution center of the rear spherical hinge of the oil cylinder, and in an initial state, the coordinate axes of the base coordinate system { A-xyz } and the movable coordinate system { B-xByBzB } are correspondingly parallel.
4. The method of claim 3, wherein the shield tunneling pose information comprises: shield pose vector q = [ x y z psi theta phi ]] T Wherein (x, y, z) represents the position coordinate of the center of a spherical hinge distribution circle in front of a propulsion oil cylinder of the shield tunneling machine; (ψ, θ, φ) represents three attitude angles of the shield tunneling machine: roll angle, pitch angle, and yaw angle.
5. The method according to claim 4, wherein the shield pose transformation matrix is calculated by the formula:
Figure FDA0003813399730000021
wherein the content of the first and second substances,
Figure FDA0003813399730000022
and
Figure FDA0003813399730000023
respectively representing the attitude matrix and the position vector of the shield, and the calculation formula is as follows:
Figure FDA0003813399730000024
Figure FDA0003813399730000025
wherein c represents a cosine function cos; s denotes the sine function sin.
6. The method according to claim 5, wherein the establishing of the shield tail clearance calculation model according to the geometric size parameters of the shield tunneling machine and the segment and the shield pose transformation matrix, and the calculating of the circumferential and longitudinal distribution characteristics of the shield tail clearance in a given shield pose by using the shield pose transformation matrix based on the shield tail clearance calculation model comprise:
and establishing a shield tail clearance calculation model according to the shield tunneling machine, the segment geometric dimension parameters and the shield pose transformation matrix, wherein the formula is as follows:
Figure FDA0003813399730000026
wherein the content of the first and second substances, A s is a position vector of any point S on the inner side of the shield tail under a base coordinate system { A }; j and k are unit direction vectors of a y axis and a z axis of the base coordinate system { A } respectively;
Figure FDA0003813399730000027
wherein the content of the first and second substances, B s is a position vector of any point S on the inner side of the shield tail in a moving coordinate system { B }, and is expressed as:
Figure FDA0003813399730000028
wherein the content of the first and second substances,
Figure FDA0003813399730000031
is a projection point S of the point S on the shield axis, namely the xB axis of the moving coordinate system O X coordinate in the dynamic coordinate system B,
Figure FDA0003813399730000032
eta is the included angle between the point S and the xB axis of the moving coordinate system, and eta belongs to [0 DEG, 360 DEG]；
Then equations (1) - (6) are combined, and the calculation equation for obtaining the shield tail clearance is:
Figure FDA0003813399730000033
wherein R is r ＝D r And/2, representing the inner radius of the shield tail, c representing a cosine function cos, s representing a sine function sin, and solving the distribution characteristics of the shield tail clearance in the circumferential direction and the longitudinal direction by substituting related parameters in a formula (7).
CN202211019077.4A 2022-08-24 2022-08-24 Method for calculating shield tail clearance distribution characteristics of shield tunneling machine Pending CN115614041A (en)

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CN117034664A (en) * 2023-10-10 2023-11-10 北京城建设计发展集团股份有限公司 Hydraulic cylinder stroke calculation method and device for shield tunneling machine propulsion system
CN117236072A (en) * 2023-11-10 2023-12-15 北京城建设计发展集团股份有限公司 Method and system for resolving pose of shield target based on tunnel design axis

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117034664A (en) * 2023-10-10 2023-11-10 北京城建设计发展集团股份有限公司 Hydraulic cylinder stroke calculation method and device for shield tunneling machine propulsion system
CN117236072A (en) * 2023-11-10 2023-12-15 北京城建设计发展集团股份有限公司 Method and system for resolving pose of shield target based on tunnel design axis
CN117236072B (en) * 2023-11-10 2024-03-08 北京城建设计发展集团股份有限公司 Method and system for resolving pose of shield target based on tunnel design axis

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