CN116291518A - TBM tunneling direction posture regulation and control method for large-diameter small-turn tunnel - Google Patents
TBM tunneling direction posture regulation and control method for large-diameter small-turn tunnel Download PDFInfo
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/06—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining
- E21D9/093—Control of the driving shield, e.g. of the hydraulic advancing cylinders
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/06—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining
- E21D9/0621—Shield advancing devices
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/06—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining
- E21D9/08—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining with additional boring or cutting means other than the conventional cutting edge of the shield
- E21D9/087—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining with additional boring or cutting means other than the conventional cutting edge of the shield with a rotary drilling-head cutting simultaneously the whole cross-section, i.e. full-face machines
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- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
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Abstract
本发明公开了一种大直径小转弯隧道TBM掘进方向姿态调控方法,属于盾构施工技术领域,步骤为:TBM距离转弯半径切入点的距离大于TBM主机长度的位置时,确定其在曲线隧道中的位置和姿态;距离等于TBM主机长度的位置时,调整TBM开始向转弯段内弯方向掘进;距离转弯段切入点为TBM主机长度一半位置时,调整TBM保持转弯姿态;刚进入转弯段时,调整TBM施工方式及掘进方向,使其掘进轴线逐步向曲线隧道设计轴线拟合;TBM转弯掘进过程中,调整其掘进参数并对其位姿定位。本发明通过调控TBM掘进方向姿态以及计算推进油缸的行程差,提高TBM整体的通过效率,实现TBM安全高效掘进,为TBM施工掘进方向姿态控制提供指导和依据,适用于大直径、小转弯半径隧道的TBM掘进施工。
The invention discloses a method for controlling the direction and posture of a TBM with a large diameter and a small turn, belonging to the technical field of shield construction. position and attitude; when the distance is equal to the length of the TBM main engine, adjust the TBM to start digging in the direction of the inward bend of the turning section; when the distance from the entry point of the turning section is half the length of the TBM main engine, adjust the TBM to maintain the turning attitude; when just entering the turning section, Adjust the TBM construction method and excavation direction so that the excavation axis gradually fits to the design axis of the curved tunnel; during the turning excavation process of the TBM, adjust its excavation parameters and position its pose. The invention improves the overall passing efficiency of the TBM by regulating the posture of the TBM tunneling direction and calculating the stroke difference of the propulsion cylinder, realizes safe and efficient tunneling of the TBM, provides guidance and basis for the posture control of the tunneling direction of the TBM construction, and is suitable for tunnels with large diameters and small turning radiuses TBM tunneling construction.
Description
技术领域technical field
本发明属于盾构施工技术领域,尤其涉及一种大直径小转弯隧道TBM掘进方向姿态调控方法。The invention belongs to the technical field of shield tunneling, and in particular relates to a method for controlling the posture of a TBM driving direction in a large-diameter and small-turn tunnel.
背景技术Background technique
TBM作为目前地下工程建设中最为先进的大型设备,将掘进、出渣及支护等多种工序集为一体,可以实现隧道建设一次成型,具有高效、安全、经济效益高等优点。TBM在我国铁路、水利、水电、地铁、矿山等隧道领域施工中的应用也越来越广泛。在利用TBM施工方法对隧道进行建设时,TBM的掘进方向需要按照隧道设计轴线进行调控,将TBM的掘进路线控制在隧道设计轴线偏差范围以内。这对于保证隧道施工质量起着至关重要的作用。As the most advanced large-scale equipment in current underground engineering construction, TBM integrates multiple processes such as excavation, slag removal and support, and can realize tunnel construction in one step, which has the advantages of high efficiency, safety and high economic benefits. TBM is also more and more widely used in the construction of railways, water conservancy, hydropower, subways, mines and other tunnels in my country. When using the TBM construction method to construct a tunnel, the tunneling direction of the TBM needs to be regulated according to the tunnel design axis, and the TBM tunneling route should be controlled within the deviation range of the tunnel design axis. This plays a vital role in ensuring the quality of tunnel construction.
TBM在进行直线段或者大转弯半径段掘进时,其掘进姿态比较容易控制,可以准确的按照隧道设计轴线进行施工。但是,随着隧道建设的要求越来越多,隧道的工程用途越来越广,隧道建设也开始出现了小转弯半径(转弯半径<10倍洞径)的施工情况。而常规的主梁敞开式TBM能适应的最小转弯半径一般不小于40倍洞径,很难满足有小转弯半径的隧道建设要求。When TBM is excavating in a straight section or a section with a large turning radius, its excavation posture is relatively easy to control, and construction can be carried out accurately according to the tunnel design axis. However, with more and more requirements for tunnel construction and more and more engineering uses of tunnels, the construction of small turning radius (turning radius < 10 times the tunnel diameter) has also begun to appear in tunnel construction. However, the minimum turning radius that conventional TBMs with open main girders can adapt to is generally not less than 40 times the tunnel diameter, which is difficult to meet the construction requirements of tunnels with small turning radii.
对于掘进中如何控制TBM的掘进方向姿态,使其在小转弯半径隧道施工中满足隧道设计要求,实现快速、精准、安全的施工,是本领域技术人员亟待解决的技术问题。For those skilled in the art, how to control the tunneling direction and posture of the TBM so that it can meet the tunnel design requirements in the construction of tunnels with small turning radius and realize fast, accurate and safe construction is an urgent technical problem to be solved by those skilled in the art.
发明内容Contents of the invention
本发明的目的是提供一种大直径小转弯隧道TBM掘进方向姿态调控方法,旨在解决上述现有技术中如何控制新型敞开式TBM在小转弯半径隧道施工中掘进方向姿态的技术问题。The purpose of the present invention is to provide a method for controlling the driving direction and posture of a TBM in a large-diameter and small-turn tunnel, aiming at solving the technical problem of how to control the driving direction and posture of a new type of open TBM in the construction of a tunnel with a small turning radius in the above-mentioned prior art.
为解决上述技术问题,本发明所采取的技术方案是:In order to solve the problems of the technologies described above, the technical solution adopted in the present invention is:
一种大直径小转弯隧道TBM掘进方向姿态调控方法,TBM为新型敞开式TBM,包括以下步骤:A method for controlling the direction and posture of a TBM with a large diameter and small turn, the TBM is a new type of open TBM, comprising the following steps:
S1、TBM距离转弯半径切入点的距离大于TBM主机长度的位置时,确定TBM在曲线隧道中的位置和姿态;S1. When the distance between the TBM and the turning radius cut-in point is greater than the length of the main body of the TBM, determine the position and attitude of the TBM in the curved tunnel;
S2、TBM距离转弯半径切入点的距离等于TBM主机长度的位置时,对TBM前盾和刀盘的位置进行调控,使其开始向转弯段内弯方向掘进;S2. When the distance from the TBM to the turning radius cut-in point is equal to the length of the main body of the TBM, the positions of the front shield and cutter head of the TBM are adjusted so that they start to excavate in the direction of the inward bend of the turning section;
S3、在TBM距离转弯段切入点为TBM主机长度一半位置时,通过调整TBM支撑盾与设备桥之间的拖拉油缸对设备桥的姿态进行调整,使其提前保持转弯姿态;S3. When the cut-in point of the TBM distance from the turning section is half the length of the TBM main engine, adjust the attitude of the equipment bridge by adjusting the drag cylinder between the TBM support shield and the equipment bridge, so that it can maintain the turning attitude in advance;
S4、在TBM前盾和刀盘刚进入转弯段时,调整TBM的掘进方向,使TBM掘进轴线开始逐步向曲线隧道设计轴线拟合;S4. When the front shield and cutter head of the TBM just enter the turning section, adjust the tunneling direction of the TBM so that the tunneling axis of the TBM begins to gradually fit to the design axis of the curved tunnel;
S5、在TBM转弯掘进过程中,调整TBM掘进参数并对TBM的位姿精准定位。S5. During the tunneling process of the TBM, adjust the tunneling parameters of the TBM and precisely locate the posture of the TBM.
优选的,步骤S1中,通过TBM上的导向视觉识别系统以及现场测量TBM的姿态来确定TBM的位姿,所述导向视觉识别系统包括全站仪、后视棱镜、支撑盾盾尾的激光靶、支撑盾盾前的相机和前盾盾后的MARK灯。Preferably, in step S1, the pose of the TBM is determined through the guidance visual recognition system on the TBM and the attitude of the TBM measured on site. The guidance visual recognition system includes a total station, a rearview prism, and a laser target supporting the tail of the shield. , support the camera in front of the shield and the MARK light behind the shield.
优选的,步骤S2中,通过调整TBM的上、下、左、右四个位区中推进油缸的压力值,对TBM前盾和刀盘的位置进行调控,并通过控制支撑盾上的左右支撑靴的伸长量,控制支撑盾的位置姿态,使其开始向转弯段内弯方向掘进。Preferably, in step S2, the position of the TBM front shield and the cutter head is regulated by adjusting the pressure values of the propulsion cylinders in the upper, lower, left and right four bit areas of the TBM, and by controlling the left and right supports on the support shield The elongation of the boots controls the position and attitude of the support shield so that it starts to dig in the direction of the inward bend of the turning section.
优选的,步骤S2中使TBM开始向曲线隧道转弯段内弯方向掘进,随着TBM向前掘进,TBM掘进轴线和隧道设计轴线逐渐偏离,且TBM逐渐向转弯段内弯偏离;在TBM到达转弯段切入点时,TBM掘进轴线和隧道设计轴线偏差达到最大,且不超过隧道设计轴线的最大允许偏差。Preferably, in step S2, the TBM starts to excavate toward the inward bend direction of the curved tunnel turning section, and as the TBM advances forward, the TBM excavation axis and the tunnel design axis gradually deviate, and the TBM gradually deviates toward the inner bend of the turning section; when the TBM reaches the turning When the section entry point is reached, the deviation between the TBM excavation axis and the tunnel design axis reaches the maximum and does not exceed the maximum allowable deviation of the tunnel design axis.
优选的,步骤S3中通过调整TBM支撑盾与设备桥之间的拖拉油缸对设备桥的姿态进行调整,所述拖拉油缸设有两根、且左右并排分布,通过调整两根拖拉油缸的行程差,实现对设备桥的姿态调整。Preferably, in step S3, the attitude of the equipment bridge is adjusted by adjusting the dragging cylinders between the TBM support shield and the equipment bridge. , to realize the attitude adjustment of the equipment bridge.
优选的,步骤S4中,采用“短进尺、勤换步调向”的施工操作方式,同时调整TBM的掘进方向;TBM刚进入转弯段后,TBM掘进轴线开始逐渐向隧道设计轴线靠近,在TBM设备整体完全进入转弯段后,TBM掘进轴线与隧道设计轴线保持一致。Preferably, in step S4, the construction operation mode of "short footage, frequent step change and direction adjustment" is adopted, and the tunneling direction of the TBM is adjusted at the same time; just after the TBM enters the turning section, the tunneling axis of the TBM begins to gradually approach the tunnel design axis. After the whole has completely entered the turning section, the TBM excavation axis is consistent with the tunnel design axis.
优选的,步骤S5中TBM掘进参数的调整包括减小掘进推力、降低刀盘扭矩、减慢掘进速度,通过全站仪、后视棱镜对TBM的位姿定位。Preferably, the adjustment of the TBM excavation parameters in step S5 includes reducing the excavation thrust, reducing the torque of the cutter head, slowing down the excavation speed, and locating the pose of the TBM through a total station and a rearview prism.
优选的,步骤S2中TBM中推进油缸的行程差值计算分以下两种情况:第一种情况为TBM从直线段到曲线段的过渡段进行掘进的状态,第二种情况为TBM完全进入曲线段内进行掘进的状态。Preferably, the calculation of the stroke difference of the propulsion cylinder in the TBM in step S2 is divided into the following two situations: the first situation is the state where the TBM is excavating from the transition section from the straight section to the curved section, and the second situation is that the TBM completely enters the curve State of excavation in the section.
优选的,第一种情况下,TBM从直线段到曲线段的过渡段进行掘进,推进油缸的行程差值计算步骤包括:Preferably, in the first case, the TBM excavates from the transition section from the straight section to the curved section, and the step of calculating the stroke difference of the propulsion cylinder includes:
利用公式(1)确定TBM在过渡段所需要的掘进步数:Use the formula (1) to determine the number of excavation steps required by the TBM in the transition section:
(1) (1)
其中,N为TBM掘进步数;为支撑靴中心到前盾支撑点的距离,/>为前盾中心到前盾支撑点的距离,s为掘进距离,/>函数表示不小于某个数的最大整数;Among them, N is the number of steps of TBM digging; is the distance from the center of the support shoe to the support point of the front shield, /> is the distance from the center of the front shield to the support point of the front shield, s is the excavation distance, /> The function represents the largest integer not less than a certain number;
在转弯半径确定的条件下,利用公式(2)确定刀盘掘进距离与刀盘偏转角度的关系:Under the condition that the turning radius is determined, formula (2) is used to determine the relationship between the cutter head excavation distance and the cutter head deflection angle:
(2) (2)
其中,α为刀盘偏转角度,R为转弯段的半径;Among them, α is the deflection angle of the cutter head, and R is the radius of the turning section;
根据TBM在掘进过程中的几何关系确定每掘进一步时推进油缸行程差值。According to the geometric relationship of the TBM during the excavation process, the stroke difference of the propulsion cylinder is determined for each excavation step.
优选的,第二种情况下,利用公式(3)确定初始状态下刀盘与支撑靴的偏转角度:Preferably, in the second case, formula (3) is used to determine the deflection angle of the cutter head and the support shoe in the initial state:
(3) (3)
其中,N为第一种情况下TBM掘进步数总和;Among them, N is the sum of TBM digging steps in the first case;
利用公式(4)确定刀盘掘进距离与刀盘偏转角度的关系:Use the formula (4) to determine the relationship between the cutting distance of the cutter head and the deflection angle of the cutter head:
(4) (4)
根据TBM在掘进过程中的几何关系确定每一步的推进油缸行程差值。According to the geometric relationship of the TBM during the excavation process, the stroke difference of the propulsion cylinder for each step is determined.
采用上述技术方案所产生的有益效果在于:与现有技术相比,本发明针对新型敞开式TBM在进行小转弯时,通过在隧道轴线允许偏差范围内的掘进路线实现了更为缓和的掘进施工,使TBM能够在满足隧道设计轴线要求下安全高效掘进;同时,通过调整TBM的转弯姿态,避免了设备之间的干涉问题,提高了TBM整体的通过效率;通过对TBM推进油缸行程差值的精准计算,为TBM掘进方向姿态操作控制提供量化的理论数据指导和依据。本发明适用于大直径、小转弯半径、多坡度隧道的盾构掘进施工,解决了TBM在通过小转弯半径时掘进轴线超出隧道设计轴线偏差范围的问题以及TBM各结构件之间的干涉问题。The beneficial effect produced by adopting the above technical solution is: compared with the prior art, the present invention realizes more moderate excavation construction through the excavation route within the allowable deviation range of the tunnel axis when the new open TBM makes a small turn , so that the TBM can safely and efficiently excavate while meeting the requirements of the tunnel design axis; at the same time, by adjusting the turning posture of the TBM, the interference problem between the equipment is avoided, and the overall passing efficiency of the TBM is improved; by adjusting the stroke difference of the TBM propulsion cylinder Accurate calculation provides quantitative theoretical data guidance and basis for TBM tunneling direction attitude operation control. The invention is suitable for shield excavation construction of large diameter, small turning radius and multi-slope tunnels, and solves the problem that the tunneling axis exceeds the deviation range of the tunnel design axis when the TBM passes through the small turning radius and the interference problem between the structural parts of the TBM.
附图说明Description of drawings
下面结合附图和具体实施方式对本发明作进一步详细的说明。The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.
图1是本发明提供的一种大直径小转弯隧道TBM掘进方向姿态调控方法的施工流程图;Fig. 1 is the construction flow chart of a kind of large-diameter small-turn tunnel TBM driving direction attitude control method provided by the present invention;
图2是本发明实施例中TBM的结构示意图;Fig. 2 is the structural representation of TBM in the embodiment of the present invention;
图3是本发明实施例中TBM上推进油缸的分布示意图;Fig. 3 is a schematic diagram of the distribution of the propulsion cylinders on the TBM in an embodiment of the present invention;
图4是本发明实施例中拖拉油缸在TBM上的安装示意图;Fig. 4 is a schematic diagram of the installation of the drag cylinder on the TBM in the embodiment of the present invention;
图5是第一种情况下TBM的初始位置示意图;Figure 5 is a schematic diagram of the initial position of the TBM in the first case;
图6是第一种情况下TBM第一次掘进后的位置、前盾掘进距离s及偏转角度α的示意图;Fig. 6 is a schematic diagram of the position of the TBM after the first excavation, the excavation distance s of the front shield and the deflection angle α in the first case;
图7是第一种情况下TBM掘进到第n步时的位置示意图;Fig. 7 is a schematic diagram of the position of the TBM tunneling to the nth step in the first case;
图8是第一种情况下TBM到达终止位置,前盾总偏转角度为Nα的示意图;Fig. 8 is a schematic diagram of the TBM reaching the termination position in the first case, and the total deflection angle of the front shield is Nα;
图9是第二种情况下TBM在初始位置,前盾与支撑盾初始夹角为Nα的示意图;Figure 9 is a schematic diagram of the TBM at the initial position in the second case, and the initial angle between the front shield and the support shield is Nα;
图10是第二种情况下TBM向前掘进时的示意图;Fig. 10 is the schematic diagram when TBM drives forward under the second situation;
图中:1为刀盘,2为前盾,3为推进油缸,4为支撑盾,5为支撑靴,6为主梁,7为拖拉油缸,8为设备桥。In the figure: 1 is the cutter head, 2 is the front shield, 3 is the propulsion cylinder, 4 is the support shield, 5 is the support shoe, 6 is the main beam, 7 is the drag cylinder, and 8 is the equipment bridge.
具体实施方式Detailed ways
下面结合本发明实施例中的附图,对本发明实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例仅仅是本发明的一部分实施例,而不是全部的实施例。基于本发明中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,都属于本发明保护的范围。The technical solutions in the embodiments of the present invention are clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
目前,为了满足小转弯半径的隧道施工需求,已经研制出了一种新型新型敞开式TBM,如图2、3所示,包括双护盾(前盾2和支撑盾4)、分区(组)推进油缸3、支撑靴及撑靴油缸、扭矩油缸及扭矩臂(图中未画出),TBM主机采用具有平行推进油缸3和扭矩油缸的双护盾结构,主机后配套采用锚喷支护。At present, in order to meet the needs of tunnel construction with small turning radius, a new type of open TBM has been developed, as shown in Figure 2 and 3, including double shields (
本发明实施例提供的一种大直径小转弯隧道TBM掘进方向姿态调控方法,TBM为新型敞开式TBM,支撑盾4的后部主梁6通过拖拉油缸7与设备桥8相连,如图4所示。采用该方法能够为TBM姿态控制提供精确的控制数值,保证了TBM沿着隧道设计轴线准确快速的掘进。施工流程如图1所示,具体包括以下步骤:The embodiment of the present invention provides a large-diameter small-turn tunnel TBM excavation direction attitude control method, the TBM is a new type of open TBM, the rear
S1、TBM距离转弯半径切入点的距离大于TBM主机长度的位置时,通过TBM上的导向视觉识别系统以及现场施工人员对TBM的此时姿态进行测量,确定TBM在曲线隧道中的位置和准确姿态。其中,导向视觉识别系统包括全站仪、后视棱镜、支撑盾盾尾的激光靶、支撑盾盾前的相机和前盾盾后的MARK灯。此处,曲线隧道的直径≥8m,转弯段半径R≤300m。S1. When the distance between the TBM and the cutting point of the turning radius is greater than the length of the main body of the TBM, the position and accurate posture of the TBM in the curved tunnel can be determined by measuring the attitude of the TBM at this time through the guidance visual recognition system on the TBM and the on-site construction personnel. . Among them, the guiding visual recognition system includes a total station, a rearview prism, a laser target supporting the tail of the shield, a camera in front of the supporting shield, and a MARK light behind the front shield. Here, the diameter of the curved tunnel is ≥8m, and the radius R of the turning section is ≤300m.
使TBM开始向曲线隧道转弯段内弯方向掘进,随着TBM向前掘进,TBM掘进轴线和隧道设计轴线逐渐偏离,TBM逐渐向转弯段内弯偏离;在TBM到达转弯段切入点时,TBM掘进轴线和隧道设计轴线偏差达到最大,且不超过隧道设计轴线的最大允许偏差。Make the TBM start to excavate in the direction of the inward curve of the curve tunnel. As the TBM advances forward, the TBM excavation axis and the tunnel design axis gradually deviate, and the TBM gradually deviates towards the inward curve of the curve; when the TBM reaches the cut-in point of the curve, the TBM excavation The deviation between the axis and the tunnel design axis reaches the maximum and does not exceed the maximum allowable deviation of the tunnel design axis.
S2、TBM距离转弯半径切入点的距离等于TBM主机长度的位置时,通过调整TBM上、下、左、右四个位区中推进油缸3的压力值,对TBM前盾2和刀盘1的位置进行调控,并通过控制支撑盾4上的左右支撑靴5的伸长量,控制支撑盾4的位置姿态,使其开始向转弯段内弯方向掘进。此处,主机长度指的是刀盘至支撑盾盾尾的长度。其中,TBM上、下、左、右四个位区中推进油缸相互平行。S2. When the distance from the TBM to the cutting point of the turning radius is equal to the length of the main body of the TBM, by adjusting the pressure value of the
S3、在TBM距离转弯段切入点为TBM主机长度一半左右位置时,开始通过调整TBM支撑盾4与设备桥8之间的拖拉油缸7对设备桥8的姿态进行调整,使其提前保持转弯姿态。如图4所示,拖拉油缸7设有两根、且左右并排分布,通过调整两根拖拉油缸7的行程差,实现对设备桥8的姿态调整。S3. When the cut-in point of the turning section from the TBM is about half the length of the main engine of the TBM, adjust the attitude of the equipment bridge 8 by adjusting the
S4、在TBM前盾2和刀盘1刚进入转弯段时,采用“短进尺、勤换步调向”的施工操作方式,同时调整TBM的掘进方向,使TBM掘进轴线开始逐步向曲线隧道设计轴线拟合。TBM刚进入转弯段后,TBM掘进轴线开始逐渐向隧道设计轴线靠近,在TBM设备整体完全进入转弯段后,TBM掘进轴线与隧道设计轴线保持一致。S4. When the
S5、在TBM转弯掘进过程中,调整TBM掘进参数,包括减小掘进推力、降低刀盘扭矩、减慢掘进速度,在确保刀具和姿态正常的情况下缓慢前进进入转弯段;密切关注内外伸缩护盾的配合情况,通过控制伸缩油缸的伸长量改变内盾姿态,避免产生干涉。TBM掘进参数的调整量根据实际施工情况而定。同时,现场测量人员对通过全站仪、后视棱镜的位置及时变换,以便做到对TBM的位姿精准定位。S5. During TBM turning tunneling, adjust TBM tunneling parameters, including reducing tunneling thrust, reducing cutter head torque, slowing down tunneling speed, and slowly advancing into the turning section while ensuring that the cutter and posture are normal; pay close attention to internal and external telescopic protection The coordination of the shield can change the posture of the inner shield by controlling the extension of the telescopic cylinder to avoid interference. The adjustment amount of TBM tunneling parameters depends on the actual construction situation. At the same time, the on-site surveyors change the positions of the total station and the rearview prism in time to achieve precise positioning of the TBM's pose.
在图2所示的实施例中,TBM的多个推进油缸分为ABCD四组,且TBM在上述转弯过程中所有推进油缸3均保持平行。In the embodiment shown in FIG. 2 , the multiple propulsion cylinders of the TBM are divided into four groups, ABCD, and all the
在步骤S2中,具体实施时,TBM中推进油缸的行程差值计算分以下两种情况:第一种情况为TBM从直线段到曲线段的过渡段进行掘进的状态,第二种情况为TBM完全进入曲线段内进行掘进的状态。In step S2, during specific implementation, the calculation of the stroke difference of the propulsion cylinder in the TBM is divided into the following two situations: the first situation is the state where the TBM is excavating from the transition section from the straight section to the curved section, and the second situation is that the TBM Fully enter the state of excavation in the curved segment.
在第一种情况下,TBM从直线段到曲线段的过渡段进行掘进,推进油缸的行程差值计算步骤包括:In the first case, the TBM excavates from the transition section from the straight section to the curved section, and the calculation steps of the stroke difference of the propulsion cylinder include:
利用公式(1)确定TBM在过渡段所需要的掘进步数:Use the formula (1) to determine the number of excavation steps required by the TBM in the transition section:
(1) (1)
其中,N为TBM掘进步数;为支撑靴5中心到前盾2支撑点的距离,/>为前盾2中心到前盾支撑点的距离,s为掘进距离,/>函数表示不小于某个数的最大整数;Among them, N is the number of steps of TBM digging; is the distance from the center of the
在转弯半径确定的条件下,利用公式(2)确定刀盘1掘进距离与刀盘偏转角度α的关系:Under the condition that the turning radius is determined, formula (2) is used to determine the relationship between the excavation distance of
(2) (2)
其中,α为刀盘偏转角度,R为转弯段的半径;Among them, α is the deflection angle of the cutter head, and R is the radius of the turning section;
根据TBM在掘进过程中的几何关系确定每掘进一步时推进油缸行程差值。According to the geometric relationship of the TBM during the excavation process, the stroke difference of the propulsion cylinder is determined for each excavation step.
在第二种情况下,利用公式(3)确定初始状态下刀盘1与撑靴5的偏转角度:In the second case, use the formula (3) to determine the deflection angle of the
(3) (3)
其中,N为第一种情况下TBM掘进步数总和;Among them, N is the sum of TBM digging steps in the first case;
利用公式(4)确定刀盘1掘进距离与刀盘偏转角度α的关系:Use formula (4) to determine the relationship between the excavation distance of
(4) (4)
根据TBM在掘进过程中的几何关系确定每一步的推进油缸行程差值。According to the geometric relationship of the TBM during the excavation process, the stroke difference of the propulsion cylinder for each step is determined.
采用上述方案能够精准控制TBM掘进方向姿态,应用新型敞开式TBM这种新型TBM在大直径隧道(隧道直径≥8m)内进行小转弯(转弯半径≤300m)掘进时,采用本发明提供的方法规划出了一条TBM掘进路线,此掘进路线在隧道轴线允许偏差范围内,实现了更为缓和的掘进施工,使TBM能够在满足隧道设计轴线要求下安全高效掘进。同时,所有推进油缸保持平行,通过调整两个拖拉油缸的行程差,改变设备桥的姿态,引领后配套台车前进方向,避免了设备之间的干涉问题,提高了TBM整体的通过效率。另外,实现了TBM在转弯掘进时推进油缸行程差值的精准计算,为TBM掘进方向姿态操作控制提供量化的理论数据指导和依据。Adopting the above scheme can precisely control the direction and posture of TBM excavation. When applying the new type of open TBM, this new type of TBM is used in the excavation of small turns (turning radius ≤ 300m) in large-diameter tunnels (tunnel diameter ≥ 8m), using the method provided by the present invention for planning A TBM excavation route was developed, which achieved a more moderate excavation construction within the allowable deviation range of the tunnel axis, enabling the TBM to safely and efficiently excavate while meeting the requirements of the tunnel design axis. At the same time, all propulsion cylinders are kept in parallel. By adjusting the stroke difference of the two drag cylinders, the posture of the equipment bridge is changed to guide the forward direction of the supporting trolley, avoiding the interference between equipment and improving the overall passing efficiency of the TBM. In addition, the precise calculation of the stroke difference of the propulsion cylinder of the TBM during the turning tunneling is realized, which provides quantitative theoretical data guidance and basis for the attitude operation control of the TBM tunneling direction.
以下结合具体实施例对本发明进一步说明,第一实施例以针对某抽水蓄能电站进场交通洞和通风洞TBM超小转弯施工为例,该项目采用直径9.53m的新型TBM进行洞室开挖及初期支护,交通洞最大纵坡为6.6%,平面转弯半径全部为100m,转弯段纵坡3%;通风洞的平面转弯半径为90m,其余洞段转弯半径为100m,纵坡全部采用2.44%;地下厂房段长度164m,最大纵坡为9.02%。隧道设计轴线要求水平偏差范围±100mm,垂直偏差范围±80mm。传统的TBM类型在面对9.53m大直径及平面转弯半径为90m的隧道时,由于其结构特征不能实现最小转弯半径的掘进。根据该工程情况采用的新型TBM为新型敞开式TBM,该新型TBM结构如图2所示。新型TBM由推进油缸为刀盘提供推进力,并且根据图3所示通过调节推进油缸上下左右四个分区的油缸伸出量对TBM刀盘的位姿进行调控,支撑盾上的支撑靴撑紧洞壁承受刀盘的反推力,通过调整左右支撑靴的伸出量可以对TBM支撑盾的位姿进行调整,新型TBM的结构使得TBM能够进行90m转弯半径的施工。但是对于此类大直径新型TBM首次进行超小转弯半径的施工,现有技术并没有相应的施工控制技术方法,为了成功完成在小转弯段的施工掘进,采用了本发明中的方法对项目中转弯段施工的TBM进行掘进方向姿态控制,其具体步骤如下:The present invention will be further described below in conjunction with specific embodiments. The first embodiment takes the TBM ultra-small turning construction of the approach traffic tunnel and ventilation tunnel of a certain pumped storage power station as an example. This project adopts a new type of TBM with a diameter of 9.53m for cavern development. Excavation and initial support, the maximum longitudinal slope of the traffic tunnel is 6.6%, the plane turning radius is all 100m, and the longitudinal slope of the turning section is 3%; the plane turning radius of the ventilation tunnel is 90m, and the turning radius of the remaining tunnel sections is 100m, 2.44% is adopted; the length of the underground powerhouse section is 164m, and the maximum longitudinal slope is 9.02%. The tunnel design axis requires a horizontal deviation range of ±100mm and a vertical deviation range of ±80mm. When the traditional TBM type is faced with a tunnel with a large diameter of 9.53m and a plane turning radius of 90m, due to its structural characteristics, it cannot realize the excavation with the minimum turning radius. The new TBM adopted according to the engineering situation is a new open TBM, and the structure of the new TBM is shown in Figure 2. The new type of TBM uses the propulsion cylinder to provide propulsion for the cutter head, and adjusts the position and posture of the TBM cutter head by adjusting the cylinder extension of the four partitions of the upper, lower, left, and right sides of the propulsion cylinder as shown in Figure 3, and the support shoes on the support shield are tightened The cave wall bears the reverse thrust of the cutter head, and the position and posture of the TBM support shield can be adjusted by adjusting the extension of the left and right support shoes. The structure of the new TBM enables the TBM to carry out construction with a turning radius of 90m. However, for the construction of ultra-small turning radius for this type of large-diameter new TBM for the first time, there is no corresponding construction control technology method in the prior art. The TBM in the construction of the turning section controls the attitude of the tunneling direction, and the specific steps are as follows:
S1、TBM距离转弯半径切入点的距离大于TBM主机长度的位置时,通过TBM上的自动导向系统以及现场测量施工人员对TBM的此时姿态进行测量,确定TBM在隧道中的准确姿态和位置。S1. When the distance between the TBM and the cutting point of the turning radius is greater than the length of the main body of the TBM, the automatic guidance system on the TBM and the on-site measurement construction personnel measure the attitude of the TBM at this time to determine the exact attitude and position of the TBM in the tunnel.
具体的,通过全站仪、后视棱镜、支撑盾盾尾的激光靶、支撑盾盾前的相机和前盾盾后的MARK灯组成的导向+视觉识别系统,确定出当前TBM所处于隧道中的位置,也可以确定出当前TBM主机各部分的姿态。导向系统会显示出前、中前、中、后四个部分的水平偏差和垂直偏差,前和中前表示TBM前盾的空间姿态,中和后表示TBM支撑盾的空间姿态,中前和中可以理解为TBM推进油缸的空间姿态。TBM距离转弯半径切入点的距离大于TBM主机长度的位置时,根据得知的前盾和支撑盾的空间姿态,调整上下左右四个分区推进油缸的伸长量,使得前盾和支撑盾运动姿态趋势于同一轴线。Specifically, through the guidance + visual recognition system composed of the total station, the rear-view prism, the laser target supporting the tail of the shield, the camera in front of the shield and the MARK light behind the front shield, it is determined that the current TBM is in the tunnel The position of the current TBM mainframe can also be determined. The guidance system will display the horizontal deviation and vertical deviation of the front, middle front, middle and rear parts. The front and middle front represent the space posture of the TBM front shield, and the middle and rear represent the space posture of the TBM support shield. It is understood as the spatial attitude of the TBM propulsion cylinder. When the distance between the TBM and the cutting point of the turning radius is greater than the length of the main body of the TBM, according to the known space attitude of the front shield and the support shield, adjust the elongation of the propulsion cylinders in the four partitions of the upper, lower, left, and right sides, so that the movement posture of the front shield and the support shield trend on the same axis.
S2、在TBM距离转弯半径切入点的距离等于TBM主机长度的位置时,通过调整TBM上、下、左、右四个位区中推进油缸的压力值,对TBM前盾和刀盘的位置进行调控,并通过控制支撑盾上的左右支撑靴的伸长量,控制支撑盾的位置姿态。使TBM开始向转弯段内弯方向掘进。S2. When the distance from the TBM to the cutting point of the turning radius is equal to the length of the TBM main engine, adjust the position of the TBM front shield and cutter head by adjusting the pressure value of the propulsion cylinder in the four bit areas of the TBM up, down, left and right. Control, and control the position and posture of the support shield by controlling the elongation of the left and right support boots on the support shield. Make the TBM start to excavate towards the inward bending direction of the turning section.
具体的,进入转弯段切入点位置的确定是根据TBM主机长度确定的,与主机长度保持一致,为TBM主机掘进路线设计和位姿调整提供条件。结合图3所示,通过调整上、下、左、右四个分区的推进油缸伸长量,形成推进油缸的行程差,使得刀盘和前盾可以朝上、下、左、右四个方向进行偏转掘进。以右转弯为例,在没有缓和曲线的情况下,距离转弯段切入点为TBM主机长度位置时,在满足此项目设计轴线水平偏差允许范围内(水平偏差±100mm),每米向右纠偏10mm,提前使主机进入右转趋势。等到圆曲线切入点后,水平姿态在+100mm。Specifically, the position of the entry point in the turning section is determined according to the length of the TBM main engine, which is consistent with the length of the main engine, and provides conditions for the design of the tunneling route and the adjustment of the posture of the TBM main engine. As shown in Figure 3, the stroke difference of the propulsion cylinder is formed by adjusting the elongation of the propulsion cylinder in the four partitions of up, down, left and right, so that the cutter head and the front shield can face up, down, left and right in four directions Conduct deflection tunneling. Taking a right turn as an example, in the absence of a transitional curve, when the distance from the entry point of the turning section is the length of the TBM main engine, within the allowable range of the horizontal deviation of the design axis of the project (horizontal deviation ±100mm), correct the deviation to the right by 10mm per meter , so that the main engine enters the right turn trend in advance. After the circular curve cuts in, the horizontal posture is at +100mm.
S3、在TBM距离转弯段切入点为TBM主机长度一半左右位置时,开始通过TBM支撑盾与设备桥之间的拖拉油缸对设备桥的姿态进行调整,使其提前保持转弯姿态。S3. When the distance from the TBM to the entry point of the turning section is about half the length of the TBM main engine, start to adjust the attitude of the equipment bridge through the drag cylinder between the TBM support shield and the equipment bridge, so that it can maintain the turning attitude in advance.
具体的,在设备桥进入R90,R100圆曲线切入点前5m,因为设备桥整体较宽,或当前位置有钢拱架时,在进入转弯时,切入点处弧度较大,容易和围岩直接发生干涉,所以在进入转弯之时,需根据支撑盾姿态铺设台车轨道,在保证轨道边缘和台车轮不干涉的情况下,结合图4所示,尽可能屏蔽一根拖拉油缸,通过伸收另一根拖拉油缸,提前拉开拖拉油缸形成差,使其设备桥提前保持转弯姿态,便于设备桥的通过。Specifically, 5m before the equipment bridge enters the R90 and R100 circular curve entry points, because the equipment bridge is relatively wide overall, or when there is a steel arch frame at the current position, when entering a turn, the entry point has a large arc, which is easy to be directly connected with the surrounding rock. Interference occurs, so when entering a turn, it is necessary to lay the trolley track according to the posture of the support shield. In the case of ensuring that the edge of the track and the trolley wheels do not interfere, as shown in Figure 4, shield a dragging cylinder as much as possible. The other dragging oil cylinder is pulled apart in advance to form a difference, so that the equipment bridge can keep the turning posture in advance, so as to facilitate the passing of the equipment bridge.
S4、在TBM前盾和刀盘刚进入转弯段时,采用“短进尺、勤换步调向”的施工操作思路。同时调整TBM的掘进方向,使TBM掘进轴线开始逐步向隧道设计轴线拟合。S4. When the TBM front shield and cutter head just enter the turning section, adopt the construction operation idea of "short footage, frequent step change and direction adjustment". At the same time, the tunneling direction of the TBM is adjusted so that the TBM tunneling axis gradually fits to the tunnel design axis.
具体的,TBM每一个掘进循环由原来的1.5m变为0.5m,掘进完成后进行TBM换步、方向调整后继续掘进。同样以右转弯为例,接续步骤S2结合当前隧道圆曲线转弯半径和TBM水平姿态,控制TBM刀盘水平姿态每米往左纠偏10mm,一直到0为止。这样可以将90m的转弯半径变为90.461m的转弯半径,减缓右转切入点圆曲线弧度,减少主机之间的干涉,以及后配套台车进入切入点时与岩壁或者钢拱架之间的干涉。Specifically, each excavation cycle of the TBM is changed from the original 1.5m to 0.5m. After the excavation is completed, the TBM will change steps and adjust the direction to continue the excavation. Also take a right turn as an example, continue to step S2 and control the horizontal attitude of the TBM cutterhead to correct the deviation by 10mm to the left per meter until it reaches 0 in combination with the current turning radius of the tunnel circular curve and the horizontal attitude of the TBM. In this way, the turning radius of 90m can be changed to a turning radius of 90.461m, the arc of the right-turn entry point can be slowed down, and the interference between the host machines can be reduced. put one's oar in.
S5、在TBM转弯掘进过程中,调整TBM掘进参数,在确保刀具和姿态正常的情况下缓慢前进进入转弯段。密切关注内外伸缩护盾的配合情况,通过控制伸缩油缸的伸长量改变内盾姿态,避免产生干涉。同时,现场测量人员对全站仪、后视棱镜的位置及时变换,以便做到对TBM位姿的精准定位。S5. During the TBM turning tunneling process, adjust the TBM tunneling parameters, and slowly advance into the turning section under the condition that the tool and posture are normal. Pay close attention to the coordination of the inner and outer telescopic shields, and change the posture of the inner shield by controlling the extension of the telescopic cylinder to avoid interference. At the same time, on-site surveyors change the positions of the total station and the rearview prism in time to achieve precise positioning of the TBM pose.
具体的,在进入转弯段时,由于护盾没有完全进入转弯段,会使刀盘姿态很难控制,这时要减小掘进推力,降低刀盘扭矩,减慢掘进速度,在确保刀具和姿态正常的情况下缓慢前进。结合此项目的情况,TBM由直线段转入90m转弯段时,将掘进推力从20800kN~22300kN降低至11800kN~18200kN,刀盘扭矩从1800kN·m~2700kN·m降低至1400kN·m~2300kN·m。将同时转弯段掘进采用高转速、小贯入度的方式进行掘进,这样操作是为了减小单个刀体在不同运行方位的受力差,使刀具受到的阻力尽可能减小,从而起到保护刀具的作用。Specifically, when entering the turning section, because the shield does not fully enter the turning section, it will make it difficult to control the attitude of the cutterhead. At this time, it is necessary to reduce the thrust of the excavation, reduce the torque of the cutterhead, and slow down the excavation speed. Proceed slowly as normal. Combined with the situation of this project, when the TBM is transferred from the straight section to the 90m turning section, the excavation thrust is reduced from 20800kN-22300kN to 11800kN-18200kN, and the cutterhead torque is reduced from 1800kN m to 2700kN m to 1400kN m to 2300kN m . The excavation of the simultaneous turning section is carried out in the way of high speed and small penetration. This operation is to reduce the force difference of a single cutter body in different operating directions, so as to reduce the resistance of the cutter as much as possible, so as to protect the The role of knives.
更具体的,适当情况下在超小转弯段增加边缘滚刀和保径刀垫块或更换大尺寸刀具,增加开挖洞径,降低主机卡盾现象,提高掘进效率,使TBM顺利转弯。但是当使用超挖装置时,严格控制超挖量;在和周围岩体不干涉的情况下,换步过程中适当手动伸出伸缩内盾左侧油缸,同时注意内外伸缩盾的配合,伸缩外盾与前盾固定连接,随着前盾的姿态改变,需要通过调整伸缩油缸改变伸缩内盾的姿态,使其与伸缩外盾配合保持与转弯趋势一致;增加施工测量频率,将换站间隔米数从直线段的间隔75m一换站降低到转弯段的间隔10m一换站,保证对TBM在转弯段施工时的测量精度。More specifically, add edge hobs and gage cutter pads or replace large-size cutters in ultra-small turning sections under appropriate circumstances to increase the excavation hole diameter, reduce the phenomenon of main engine jamming, improve tunneling efficiency, and make the TBM turn smoothly. However, when using the overbreak device, strictly control the amount of overbreak; in the case of not interfering with the surrounding rock mass, properly manually extend the left cylinder of the telescopic inner shield during the step change process, and pay attention to the cooperation of the inner and outer telescopic shields, and the telescopic outer shield. The shield is fixedly connected to the front shield. As the posture of the front shield changes, the posture of the telescopic inner shield needs to be changed by adjusting the telescopic oil cylinder so that it cooperates with the telescopic outer shield to keep in line with the turning trend; increase the frequency of construction measurement and increase the interval between stations The number is reduced from the interval of 75m in the straight section to the interval of 10m in the turning section to ensure the measurement accuracy of the TBM during the construction of the turning section.
除了上述TBM掘进方向姿态控制方法,步骤S2中还提供了一种推进油缸行程差的计算方法,为TBM掘进方向姿态控制提供量化数据理论支撑。具体包括TBM在以下两种情况下的计算方法,第一种情况为TBM从直线段到曲线段的过渡段进行掘进的状态,第二种情况为TBM完全进入曲线段内进行掘进的状态。In addition to the above-mentioned attitude control method for the TBM heading direction, step S2 also provides a calculation method for the stroke difference of the propulsion cylinder, which provides quantitative data theoretical support for the attitude control of the TBM heading direction. It specifically includes the calculation method of the TBM in the following two cases. The first case is the state where the TBM is excavating in the transition section from the straight line to the curved section, and the second case is the state where the TBM completely enters the curved section for excavation.
第二实施例:Second embodiment:
本实施例是说明第一种情况下的推进油缸行程差值计算,TBM从直线段到曲线段的过渡阶段进行时,为了保证按照隧道设计轴线前进,理想状态下支撑盾的中心和前盾的支撑点需要始终在隧道设计轴线上。This embodiment is to illustrate the calculation of the stroke difference of the propulsion cylinder in the first case. When the TBM is in the transition stage from the straight section to the curved section, in order to ensure that it advances according to the tunnel design axis, the center of the support shield and the front shield under ideal conditions The support points need to always be on the tunnel design axis.
需要说明的是,第一种情况的初始时刻为前盾支撑点达到直线段和曲线段相切点的时刻,终止时刻为支撑靴到达直线段和曲线段相切点的时刻。It should be noted that the initial moment of the first case is the moment when the front shield support point reaches the tangent point of the straight line segment and the curved line segment, and the end time is the time when the support shoe reaches the tangent point of the straight line segment and the curved line segment.
对第一种情况下的推进油缸差值计算时需要了解以下的转弯掘进步骤:For the calculation of the propulsion cylinder difference in the first case, the following turning excavation steps need to be understood:
S1、图6为TBM在初始时刻开始向前掘进一个行程后的位置。虚线部分为初始时刻前盾的位置,实线部分为掘进一个行程后的前盾位置,前盾掘进距离为s,偏转角度为α。S1 and Fig. 6 are the positions of the TBM at the initial moment after it begins to excavate one stroke forward. The dotted line part is the position of the front shield at the initial moment, and the solid line part is the position of the front shield after one stroke of excavation. The excavation distance of the front shield is s, and the deflection angle is α.
S2、接着TBM支撑盾支撑靴收回、复位然后撑紧洞壁,TBM前盾继续向前掘进,与步骤S1一致。S2. Then the TBM support shield support shoes are retracted, reset and then tighten the cave wall, and the TBM front shield continues to dig forward, which is consistent with step S1.
S3、最后,重复执行步骤S1、S2,直到支撑靴到达直线段和曲线段的相切点时,被认为完成了过渡段的掘进,如图8所示。S3. Finally, repeating steps S1 and S2 until the support shoe reaches the tangent point between the straight line and the curved line, it is considered that the excavation of the transition section is completed, as shown in FIG. 8 .
具体的,结合图5、图6所示,需要根据掘进距离s来确定TBM在第一种情况下所需的掘进步数N,可以通过下列表达式得到步数N:Specifically, as shown in Figure 5 and Figure 6, it is necessary to determine the number of excavation steps N required by the TBM in the first case according to the excavation distance s, and the number of steps N can be obtained by the following expression:
其中,为支撑靴中心到支撑点的距离,/>为前盾中心到支撑点的距离,s为掘进距离,/>函数表示不小于某个数的最大整数。in, is the distance from the center of the support shoe to the support point, /> is the distance from the center of the front shield to the support point, s is the excavation distance, /> A function representing the largest integer not less than a certain number.
具体的,在转弯半径R确定的情况下,确定出刀盘掘进s后偏转的角度α,根据图6的几何关系,可以得到下列表达式:Specifically, in the case that the turning radius R is determined, the deflection angle α after the cutter head is excavated s is determined. According to the geometric relationship in Figure 6, the following expression can be obtained:
当TBM在第一种情况下步进到第n步时(),根据图7所示,可以得出刀盘总的偏转角度/>,同时根据辅助线和几何关系得出下列计算公式:When the TBM steps to the nth step in the first case ( ), as shown in Figure 7, the total deflection angle of the cutter head can be obtained /> , and get the following calculation formula according to the auxiliary line and geometric relationship:
其中,为支撑靴中心到直线段和曲线段相切点的距离;d为推进油缸分布节圆直径;/>为支撑靴中心到支撑盾前面板的距离;/>为内侧推进油缸的总长度;/>为外侧推进油缸的总长度。in, is the distance from the center of the support shoe to the tangent point of the straight line segment and the curve segment; d is the pitch circle diameter of the propulsion cylinder distribution; /> is the distance from the center of the support shoe to the front panel of the support shield; /> is the total length of the inside propulsion cylinder; /> is the total length of the outboard propulsion cylinder.
根据上式的计算可以得出在TBM在转弯半径为的隧道中从初始时刻开始,刀盘每掘进一步时的推进油缸内外侧的行程差值:According to the calculation of the above formula, it can be obtained that the stroke difference between the inner and outer sides of the propulsion cylinder when the cutter head digs one step from the initial moment in a tunnel with a turning radius of TBM:
第三实施例:Third embodiment:
本实施例是说明第二种情况下的推进油缸行程差值计算,与TBM从直线段到曲线段的过渡阶段相似,为了保证按照隧道设计轴线前进,理想状态下支撑盾的中心和前盾的支撑点需要始终在隧道设计轴线上。This example is to illustrate the calculation of the stroke difference of the propulsion cylinder in the second case. It is similar to the transition stage of the TBM from the straight section to the curved section. In order to ensure that the tunnel advances according to the tunnel design axis, the center of the support shield and the front shield under ideal conditions The support points need to always be on the tunnel design axis.
需要说明的是,第二种情况由于在纯曲线中掘进,因此掘进过程为一不断重复的过程,不存在初始时刻和终止时刻。It should be noted that, in the second case, the excavation process is a repeating process because the excavation is performed in a pure curve, and there is no initial moment and end moment.
对第二种情况下的推进油缸行程差值计算时需要了解以下的转弯掘进步骤:For the calculation of the stroke difference of the propulsion cylinder in the second case, it is necessary to understand the following turning excavation steps:
S1、如图9所示,初始状态下,刀盘与支撑靴形成一定的角度δ。S1. As shown in FIG. 9 , in the initial state, the cutterhead and the support shoe form a certain angle δ.
S2、如图10所示,刀盘开始向前掘进一个行程后的位置。虚线部分为初始时刻前盾的位置,实线部分为掘进一个行程后的前盾位置,前盾掘进距离为s,偏转角度与第一实施例一样为α。S2. As shown in FIG. 10 , the position where the cutterhead starts to advance one stroke forward. The dotted line part is the position of the front shield at the initial moment, and the solid line part is the position of the front shield after one stroke of excavation. The excavation distance of the front shield is s, and the deflection angle is α as in the first embodiment.
S3、接着TBM支撑盾支撑靴收回、复位然后撑紧洞壁,TBM前盾继续向前掘进,与步骤S2一致。S3. Then the TBM support shield support shoes are retracted, reset and then tighten the cave wall, and the TBM front shield continues to dig forward, which is consistent with step S2.
S4、最后,重复执行步骤S2、S3,直到曲线段掘进完成。S4. Finally, repeat steps S2 and S3 until the excavation of the curved section is completed.
下面的计算思路与第二实施例的计算思路一致。The following calculation idea is consistent with the calculation idea of the second embodiment.
在进入转弯段掘进时,初始状态下刀盘与支撑靴存在一定的角度δ,此角度为第一情况下累积的角度之和,即:When tunneling into the turning section, there is a certain angle δ between the cutter head and the support shoe in the initial state, which is the sum of the accumulated angles in the first case, namely:
其中,N为第二实施例中的掘进总步数。Wherein, N is the total number of excavation steps in the second embodiment.
在刀盘向前掘进一个行程后,如图10所示,可以根据辅助线和几何关系得出下列计算公式:After the cutter head is driven forward for a stroke, as shown in Figure 10, the following calculation formula can be obtained according to the auxiliary line and geometric relationship:
其中,刀盘向前掘进s后与支撑靴的角度;d为推进油缸分布节圆直径;/>为支撑靴中心到支撑盾前面板的距离;/>为内侧推进油缸的总长度;/>为外侧推进油缸的总长度。in, The angle between the cutter head and the support shoe after the cutter head is driven forward by s; d is the pitch circle diameter of the propulsion cylinder distribution; /> is the distance from the center of the support shoe to the front panel of the support shield; /> is the total length of the inside propulsion cylinder; /> is the total length of the outboard propulsion cylinder.
根据上式的计算可以得出TBM在纯曲线段掘进时,刀盘每掘进一步时的推进油缸内外侧的行程差值:According to the calculation of the above formula, it can be obtained that when the TBM is excavating in a pure curve section, the stroke difference between the inner and outer sides of the propulsion cylinder when the cutter head is excavating one step:
综上所述,采用本发明提供的TBM掘进方向姿态控制方法能够使TBM在隧道轴线允许偏差范围内,沿着一条较为缓和的路线掘进,使TBM能够在满足隧道设计轴线要求下,实现了快速、安全的掘进,提高了TBM整体的通过效率。同时,通过计算推进油缸行程差值为TBM掘进方向姿态控制提供了精确的控制数值,避免了设备之间的干涉问题,为TBM掘进方向姿态操作控制提供量化的理论数据指导和依据。To sum up, the TBM driving direction attitude control method provided by the present invention can enable the TBM to drive along a relatively gentle route within the allowable deviation range of the tunnel axis, so that the TBM can realize rapid tunneling while meeting the requirements of the tunnel design axis. , Safe excavation, improve the overall passing efficiency of TBM. At the same time, by calculating the stroke difference of the propulsion cylinder, it provides accurate control values for the attitude control of the TBM's heading direction, avoids the interference problem between equipment, and provides quantitative theoretical data guidance and basis for the attitude operation control of the TBM heading direction.
在上面的描述中阐述了很多具体细节以便于充分理解本发明,但是本发明还可以采用其他不同于在此描述的其它方式来实施,本领域技术人员可以在不违背本发明内涵的情况下做类似推广,因此本发明不受上面公开的具体实施例的限制。In the above description, many specific details have been set forth in order to fully understand the present invention, but the present invention can also be implemented in other ways that are different from those described here, and those skilled in the art can do without departing from the connotation of the present invention. By analogy, the present invention is therefore not limited to the specific embodiments disclosed above.
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