CN116291518B - 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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- 230000005641 tunneling Effects 0.000 title claims abstract description 156
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- 238000010276 construction Methods 0.000 claims abstract description 35
- 230000001105 regulatory effect Effects 0.000 claims abstract description 17
- 230000001276 controlling effect Effects 0.000 claims abstract description 15
- 238000005452 bending Methods 0.000 claims abstract description 9
- 238000004364 calculation method Methods 0.000 claims description 16
- 230000007704 transition Effects 0.000 claims description 9
- 230000000007 visual effect Effects 0.000 claims description 7
- PCTMTFRHKVHKIS-BMFZQQSSSA-N (1s,3r,4e,6e,8e,10e,12e,14e,16e,18s,19r,20r,21s,25r,27r,30r,31r,33s,35r,37s,38r)-3-[(2r,3s,4s,5s,6r)-4-amino-3,5-dihydroxy-6-methyloxan-2-yl]oxy-19,25,27,30,31,33,35,37-octahydroxy-18,20,21-trimethyl-23-oxo-22,39-dioxabicyclo[33.3.1]nonatriaconta-4,6,8,10 Chemical compound C1C=C2C[C@@H](OS(O)(=O)=O)CC[C@]2(C)[C@@H]2[C@@H]1[C@@H]1CC[C@H]([C@H](C)CCCC(C)C)[C@@]1(C)CC2.O[C@H]1[C@@H](N)[C@H](O)[C@@H](C)O[C@H]1O[C@H]1/C=C/C=C/C=C/C=C/C=C/C=C/C=C/[C@H](C)[C@@H](O)[C@@H](C)[C@H](C)OC(=O)C[C@H](O)C[C@H](O)CC[C@@H](O)[C@H](O)C[C@H](O)C[C@](O)(C[C@H](O)[C@H]2C(O)=O)O[C@H]2C1 PCTMTFRHKVHKIS-BMFZQQSSSA-N 0.000 claims description 2
- 230000036544 posture Effects 0.000 description 31
- 239000004973 liquid crystal related substance Substances 0.000 description 6
- 238000005259 measurement Methods 0.000 description 3
- 239000011435 rock Substances 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
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- 238000010586 diagram Methods 0.000 description 2
- 238000005192 partition Methods 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 238000009423 ventilation Methods 0.000 description 2
- 238000009412 basement excavation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 239000002893 slag Substances 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/06—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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/20—Hydro energy
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Abstract
The invention discloses a method for regulating and controlling the tunneling direction posture of a TBM (tunnel boring machine) of a large-diameter small-turn tunnel, which belongs to the technical field of shield construction and comprises the following steps: when the distance between the TBM and the turning radius cut-in point is greater than the length of the TBM host, determining the position and the gesture of the TBM in the curve tunnel; when the distance is equal to the length of the TBM host, adjusting the TBM to start tunneling towards the inward bending direction of the turning section; when the distance from the cutting point of the turning section to the position which is half of the length of the TBM host, adjusting the TBM to keep the turning gesture; when the tunnel enters the turning section, the TBM construction mode and the tunneling direction are adjusted, so that the tunneling axis of the tunnel gradually fits to the design axis of the curve tunnel; in the TBM turning tunneling process, the tunneling parameters are adjusted and the pose is positioned. According to the TBM tunneling machine, the TBM tunneling direction gesture is regulated and controlled, the stroke difference of the propulsion oil cylinder is calculated, the overall passing efficiency of the TBM is improved, safe and efficient tunneling of the TBM is realized, guidance and basis are provided for TBM tunneling construction tunneling direction gesture control, and the TBM tunneling machine is suitable for TBM tunneling construction of tunnels with large diameters and small turning radii.
Description
Technical Field
The invention belongs to the technical field of shield construction, and particularly relates to a method for regulating and controlling the tunneling direction posture of a TBM (tunnel boring machine) of a large-diameter small-turn tunnel.
Background
TBM is used as the most advanced large-scale equipment in the present underground engineering construction, integrates various working procedures such as tunneling, slag discharging, supporting and the like, can realize one-step forming of tunnel construction, and has the advantages of high efficiency, safety, high economic benefit and the like. TBM is also widely applied in tunnel construction in railway, water conservancy, hydropower, subway, mine and other tunnel fields in China. When a tunnel is constructed by using the TBM construction method, the tunneling direction of the TBM needs to be regulated and controlled according to the tunnel design axis, and the tunneling route of the TBM is controlled within the deviation range of the tunnel design axis. This plays a vital role in ensuring the tunnel construction quality.
When the TBM is used for tunneling in a straight line section or a large turning radius section, the tunneling gesture of the TBM is easy to control, and the TBM can be accurately constructed according to the tunnel design axis. However, as the requirements for tunnel construction become more and more, the engineering applications of the tunnel become more and more, and the tunnel construction starts to take place under the construction condition of small turning radius (turning radius <10 times of hole diameter). The minimum turning radius which can be adapted to the conventional girder open type TBM is generally not smaller than 40 times of the hole diameter, and the tunnel construction requirement with small turning radius is difficult to meet.
How to control the tunneling direction gesture of the TBM in tunneling so as to meet the tunnel design requirement in the tunnel construction with small turning radius, and realize rapid, accurate and safe construction is a technical problem to be solved by the technicians in the field.
Disclosure of Invention
The invention aims to provide a tunneling direction posture regulating method for a large-diameter small-turning tunnel TBM, and aims to solve the technical problem of how to control the tunneling direction posture of a novel open TBM in small-turning-radius tunnel construction in the prior art.
In order to solve the technical problems, the invention adopts the following technical scheme:
a method for regulating and controlling the tunneling direction posture of a TBM of a large-diameter small-turn tunnel, wherein the TBM is a novel open TBM, and comprises the following steps:
s1, when the distance between the TBM and a turning radius cut-in point is greater than the length of a TBM host, determining the position and the gesture of the TBM in a curve tunnel;
s2, when the distance between the TBM and the turning radius cut-in point is equal to the length of the TBM host, regulating and controlling the positions of the TBM front shield and the cutter disc to start tunneling towards the inward bending direction of the turning section;
s3, when the TBM distance turning section cut-in point is half of the length of the TBM host, adjusting the posture of the equipment bridge by adjusting a traction oil cylinder between the TBM support shield and the equipment bridge, so that the equipment bridge can maintain the turning posture in advance;
s4, when the TBM front shield and the cutter head just enter the turning section, adjusting the tunneling direction of the TBM, and enabling the tunneling axis of the TBM to start fitting gradually to the design axis of the curve tunnel;
s5, in the TBM turning tunneling process, adjusting TBM tunneling parameters and accurately positioning the pose of the TBM.
Preferably, in step S1, the pose of the TBM is determined by a guiding visual recognition system on the TBM, and by measuring the pose of the TBM in situ, where 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 shield, and a MARK lamp behind the front shield.
Preferably, in step S2, the positions of the front shield and the cutterhead of the TBM are regulated and controlled by adjusting the pressure values of the thrust cylinders in the upper, lower, left and right unit areas of the TBM, and the position and the posture of the support shield are controlled by controlling the elongation of the left and right support boots on the support shield, so that the support shield starts tunneling towards the inward bending direction of the turning section.
Preferably, in step S2, tunneling is started in the inward bending direction of the curved tunnel turning section, and as the TBM is tunneling forward, the tunneling axis of the TBM and the tunnel design axis gradually deviate, and the TBM gradually turns inward and deviates toward the turning section; when the TBM reaches the turning section entry point, the deviation between the TBM tunneling axis and the tunnel design axis is maximized, and the maximum allowable deviation of the tunnel design axis is not exceeded.
Preferably, in step S3, the posture of the equipment bridge is adjusted by adjusting the traction cylinders between the TBM support shield and the equipment bridge, the two traction cylinders are arranged side by side, and the posture adjustment of the equipment bridge is realized by adjusting the stroke difference of the two traction cylinders.
Preferably, in step S4, a construction operation mode of "short footage, duty step change and direction adjustment" is adopted, and meanwhile, the tunneling direction of the TBM is adjusted; and after the TBM enters the turning section completely, the TBM tunneling axis is consistent with the tunnel design axis.
Preferably, in step S5, the adjustment of the TBM tunneling parameters includes reducing tunneling thrust, reducing cutter torque, and slowing tunneling speed, and the pose of the TBM is positioned by the total station and the rearview prism.
Preferably, in step S2, the calculation of the stroke difference of the thrust cylinder in the TBM is divided into the following two cases: the first case is a state in which the TBM is tunneled from a straight line segment to a curve segment, and the second case is a state in which the TBM is tunneled completely into the curve segment.
Preferably, in the first case, the transition section from the straight line section to the curve section of the TBM is tunneled, and the step of calculating the stroke difference value of the thrust cylinder includes:
determining the number of tunneling steps required by the TBM in the transition section by using a formula (1):
（1）
wherein N is TBM tunneling progress number;for the distance of the centre of the support shoe to the front shield support point +.>The distance from the center of the front shield to the front shield supporting point is s is tunneling distance, and +.>The function represents a maximum integer not smaller than a certain number;
under the condition of determining the turning radius, determining the relation between the tunneling distance of the cutterhead and the deflection angle of the cutterhead by using a formula (2):
（2）
wherein alpha is the deflection angle of the cutter head, and R is the radius of the turning section;
and determining the stroke difference value of the thrust cylinder during each tunneling process according to the geometric relation of the TBM in the tunneling process.
Preferably, in the second case, the deflection angle of the cutterhead and the supporting shoe in the initial state is determined by using formula (3): （3）
wherein N is the sum of TBM tunneling steps under the first condition;
determining the relation between the tunneling distance of the cutterhead and the deflection angle of the cutterhead by using a formula (4):
（4）
and determining the stroke difference value of the propulsion cylinder of each step according to the geometric relation of the TBM in the tunneling process.
The beneficial effects of adopting above-mentioned technical scheme to produce lie in: compared with the prior art, the novel open TBM realizes more moderate tunneling construction through the tunneling route within the allowable deviation range of the tunnel axis when the novel open TBM makes a small turn, so that the TBM can safely and efficiently tunnel under the condition of meeting the requirement of the tunnel design axis; meanwhile, by adjusting the turning gesture of the TBM, the interference problem between devices is avoided, and the overall passing efficiency of the TBM is improved; and by accurately calculating the stroke difference value of the TBM propulsion oil cylinder, quantitative theoretical data guidance and basis are provided for TBM tunneling direction gesture operation control. The invention is suitable for shield tunneling construction of large-diameter, small-turning-radius and multi-gradient 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 among structural members of the TBM.
Drawings
The invention will be described in further detail with reference to the drawings and the detailed description.
FIG. 1 is a construction flow chart of a large-diameter small-turn tunnel TBM tunneling direction posture regulating method provided by the invention;
FIG. 2 is a schematic diagram of the structure of a TBM in accordance with an embodiment of the present invention;
FIG. 3 is a schematic diagram of the distribution of thrust cylinders on a TBM in accordance with an embodiment of the present invention;
FIG. 4 is a schematic illustration of the installation of a drag cylinder on a TBM in an embodiment of the present invention;
FIG. 5 is a schematic illustration of the initial position of the TBM in the first case;
FIG. 6 is a schematic illustration of the position of the TBM after the first tunneling, the front tunneling distance s, and the yaw angle α in the first case;
FIG. 7 is a schematic illustration of the position of the TBM in the first instance as it is tunneled to step n;
FIG. 8 is a schematic view of the TBM reaching an end position with a total angle of deflection of the front shield nα in a first case;
FIG. 9 is a schematic view of the TBM in an initial position with an initial angle nα between the front shield and the support shield in a second condition;
FIG. 10 is a schematic illustration of TBM tunneling forward in a second scenario;
in the figure: the device comprises a cutter head 1, a front shield 2, a thrust cylinder 3, a support shield 4, a support boot 5, a main beam 6, a traction cylinder 7 and a device bridge 8.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
At present, in order to meet the tunnel construction requirement of small turning radius, a novel open TBM has been developed, as shown in fig. 2 and 3, which comprises a double shield (front shield 2 and support shield 4), a partition (group) propulsion cylinder 3, a support shoe 5, a support shoe cylinder, a torque cylinder and a torque arm (not shown in the figure), wherein a TBM host adopts a double shield structure with parallel propulsion cylinders 3 and torque cylinders, and an anchor spray support is adopted behind the host.
The embodiment of the invention provides a tunneling direction posture regulating method for a large-diameter small-turn tunnel TBM, which is characterized in that the TBM is a novel open TBM, and a rear main beam 6 of a support shield 4 is connected with an equipment bridge 8 through a traction oil cylinder 7, as shown in fig. 4. By adopting the method, accurate control values can be provided for TBM attitude control, and accurate and rapid tunneling of TBM along the tunnel design axis is ensured. The construction flow is shown in fig. 1, and specifically comprises the following steps:
s1, when the distance between the TBM and the turning radius cut-in point is greater than the length of the TBM host, measuring the posture of the TBM at the moment through a guiding visual identification system on the TBM and on-site constructors, and determining the position and the accurate posture of the TBM in the curve tunnel. The guiding visual recognition system comprises a total station, a rearview prism, a laser target supporting the shield tail, a camera in front of the shield and a MARK lamp behind the front shield. Here, the diameter of the curved tunnel is not less than 8m, and the radius R of the turning section is not more than 300m.
The TBM starts tunneling towards the inward bending direction of the turning section of the curved tunnel, and as the TBM tunnels forwards, the tunneling axis of the TBM and the design axis of the tunnel deviate gradually, and the TBM deviates inwards towards the turning section gradually; when the TBM reaches the turning section entry point, the deviation between the TBM tunneling axis and the tunnel design axis is maximized, and the maximum allowable deviation of the tunnel design axis is not exceeded.
S2, when the distance between the TBM and the turning radius cut-in point is equal to the length of the TBM host, the positions of the TBM front shield 2 and the cutter head 1 are regulated and controlled by adjusting the pressure values of the pushing cylinders 3 in the upper, lower, left and right four bit areas of the TBM, and the position and the posture of the support shield 4 are controlled by controlling the elongation of the left and right support boots 5 on the support shield 4, so that tunneling towards the inward bending direction of the turning section is started. Here, the length of the host refers to the length from the cutterhead to the tail of the support shield. The pushing cylinders in the upper, lower, left and right four bit areas of the TBM are parallel to each other.
S3, when the TBM distance turning section cutting point is about half of the length of the TBM host, the posture of the equipment bridge 8 is adjusted by adjusting the traction oil cylinder 7 between the TBM support shield 4 and the equipment bridge 8, so that the equipment bridge 8 can maintain the turning posture in advance. As shown in fig. 4, two drag cylinders 7 are provided and are distributed side by side, and the posture of the equipment bridge 8 is adjusted by adjusting the stroke difference of the two drag cylinders 7.
S4, when the TBM front shield 2 and the cutter head 1 just enter a turning section, adopting a construction operation mode of short footage and step change and direction adjustment, and simultaneously adjusting the tunneling direction of the TBM to ensure that the tunneling axis of the TBM starts to gradually fit to the design axis of the curve tunnel. And after the TBM enters the turning section completely, the TBM tunneling axis is consistent with the tunnel design axis.
S5, in the TBM turning tunneling process, adjusting TBM tunneling parameters, including reducing tunneling thrust, reducing cutter head torque and slowing tunneling speed, and slowly advancing into a turning section under the condition of ensuring normal cutter and posture; closely pay attention to the matching condition of the inner telescopic shield and the outer telescopic shield, and the gesture of the inner shield is changed by controlling the elongation of the telescopic cylinder, so that interference is avoided. The adjustment amount of TBM tunneling parameters is determined according to actual construction conditions. Meanwhile, the positions of the site measurer passing through the total station and the rearview prism are changed in time so as to accurately position the pose of the TBM.
In the embodiment shown in fig. 2, the plurality of thrust cylinders of the TBM are divided into four groups ABCD, and all thrust cylinders 3 of the TBM remain parallel during the above-described cornering.
In step S2, in the specific implementation, the calculation of the stroke difference of the thrust cylinder in the TBM is divided into the following two cases: the first case is a state in which the TBM is tunneled from a straight line segment to a curve segment, and the second case is a state in which the TBM is tunneled completely into the curve segment.
In the first case, the TBM is tunneled from a transition section from a straight line section to a curve section, and the stroke difference value calculation step of the propulsion oil cylinder comprises the following steps:
determining the number of tunneling steps required by the TBM in the transition section by using a formula (1):
（1）
wherein N is TBM tunneling progress number;for the distance of the centre of the support shoe 5 to the support point of the front shield 2 +>Is the distance from the center of the front shield 2 to the front shield supporting point, s is the tunneling distance, and +.>The function representation is not less thanA certain number of maximum integers;
under the condition of determining the turning radius, determining the relation between the tunneling distance of the cutterhead 1 and the cutterhead deflection angle alpha by using a formula (2):
（2）
wherein alpha is the deflection angle of the cutter head, and R is the radius of the turning section;
and determining the stroke difference value of the thrust cylinder during each tunneling process according to the geometric relation of the TBM in the tunneling process.
In the second case, the deflection angle of the cutterhead 1 and the shoe 5 in the initial state is determined using equation (3):
（3）
wherein N is the sum of TBM tunneling steps under the first condition;
determining the relation between the tunneling distance of the cutterhead 1 and the cutterhead deflection angle alpha by using a formula (4):
（4）
and determining the stroke difference value of the propulsion cylinder of each step according to the geometric relation of the TBM in the tunneling process.
By adopting the scheme, the tunneling direction gesture of the TBM can be accurately controlled, and when the novel TBM of the novel open TBM is used for tunneling in a large-diameter tunnel (the tunnel diameter is more than or equal to 8 m) with a small turn (the turning radius is less than or equal to 300 m), a TBM tunneling route is planned by adopting the method provided by the invention, and the tunneling route is within the allowable deviation range of the tunnel axis, so that more moderate tunneling construction is realized, and the TBM can be safely and efficiently tunneled under the condition that the tunnel design axis requirement is met. Meanwhile, all the propulsion cylinders are kept parallel, the posture of the equipment bridge is changed by adjusting the travel difference of the two traction cylinders, the forward direction of the rear supporting trolley is led, the interference problem between equipment is avoided, and the overall passing efficiency of the TBM is improved. In addition, accurate calculation of the stroke difference value of the propulsion cylinder during turning tunneling of the TBM is realized, and quantitative theoretical data guidance and basis are provided for attitude operation control of the tunneling direction of the TBM.
The invention is further described below by referring to specific embodiments, in the first embodiment, TBM ultra-small turning construction is taken as an example for a traffic hole and a ventilation hole entering a pumped storage power station, a novel TBM with the diameter of 9.53m is adopted for cavity excavation and primary support, the maximum longitudinal slope of the traffic hole is 6.6%, the plane turning radius is 100m, and the longitudinal slope of a turning section is 3%; the plane turning radius of the ventilation hole is 90m, the turning radius of the rest hole sections is 100m, and the longitudinal slopes are all 2.44%; the length of the underground plant section is 164m, and the maximum longitudinal slope is 9.02%. The tunnel design axis requires a horizontal deviation range of + -100 mm and a vertical deviation range of + -80 mm. The conventional TBM type cannot realize tunneling of a minimum turning radius due to its structural characteristics when facing a tunnel of 9.53m large diameter and a planar turning radius of 90 m. The novel TBM adopted according to the engineering condition is a novel open TBM, and the novel TBM structure is shown in figure 2. The novel TBM provides propulsion for the cutterhead by the propulsion cylinder to adjust and control the position appearance of TBM cutterhead through the hydro-cylinder of four subregions about adjusting the propulsion cylinder according to the figure 3, support boots on the support shield prop up tight wall of cave and bear the thrust of cutterhead, can adjust the position appearance of TBM support shield through adjusting the protrusion of controlling support boots, the structure of novel TBM makes the TBM can carry out 90m turning radius's construction. However, for the construction of the super-small turning radius of the large-diameter novel TBM for the first time, the prior art does not have a corresponding construction control technical method, and in order to successfully finish the construction tunneling in the small turning section, the method is adopted to control the tunneling direction gesture of the TBM constructed in the project turning section, and the method specifically comprises the following steps:
s1, when the distance between the TBM and the turning radius cut-in point is greater than the length of the TBM host, measuring the posture of the TBM at the moment through an automatic guiding system on the TBM and on-site measuring constructors, and determining the accurate posture and the position of the TBM in the tunnel.
Specifically, the position of the current TBM in the tunnel can be determined through a total station, a rearview prism, a laser target for supporting the tail of the shield, a camera in front of the shield and a guide and visual recognition system consisting of a MARK lamp behind the front shield, and the gesture of each part of the current TBM host can also be determined. The guiding system will show horizontal deviation and vertical deviation of the front, middle and rear four parts, the front and middle front representing the spatial attitude of the TBM front shield, the middle and rear representing the spatial attitude of the TBM support shield, the middle front and middle being understood as the spatial attitude of the TBM thrust cylinder. When the distance between the TBM and the turning radius cut-in point is greater than the length of the TBM host, the elongation of the four partition propulsion cylinders is adjusted according to the known spatial postures of the front shield and the support shield, so that the movement postures of the front shield and the support shield tend to be on the same axis.
S2, when the distance between the TBM and the turning radius cut-in point is equal to the length of the TBM host, the positions of the TBM front shield and the cutter head are regulated and controlled by adjusting the pressure values of the thrust cylinders in the upper, lower, left and right four bit regions of the TBM, and the position and the posture of the support shield are controlled by controlling the elongation of the left and right support boots on the support shield. And (5) the TBM starts tunneling towards the inward bending direction of the turning section.
Specifically, the determination of the point of entry into the turning section is determined according to the length of the TBM host, and the determination is consistent with the length of the host, so that conditions are provided for the design of the tunneling route and the pose adjustment of the TBM host. By adjusting the elongation of the propulsion cylinders in the upper, lower, left and right areas, the stroke difference of the propulsion cylinders is formed, so that the cutter head and the front shield can deflect and tunnel in the upper, lower, left and right directions. Taking a right turn as an example, when the distance from the cutting point of the turning section to the length position of the TBM host under the condition of no moderating curve, the host enters a right turn trend in advance when the horizontal deviation allowable range (horizontal deviation +/-100 mm) of the project design axis is met and the deviation is corrected to the right by 10mm per meter. After the circular curve is equal to the point of entry, the horizontal posture is +100mm.
S3, when the TBM distance turning section cutting point is about half of the length of the TBM host, the posture of the equipment bridge is adjusted through a traction oil cylinder between the TBM support shield and the equipment bridge, so that the equipment bridge can maintain the turning posture in advance.
Specifically, 5m before the equipment bridge enters the R90 and R100 circular curve cutting point, because the whole equipment bridge is wider, or when the steel arch is arranged at the current position, the radian of the cutting point is larger when the equipment bridge enters a turn, the equipment bridge is easy to interfere with surrounding rocks directly, so that a trolley track is paved according to the supporting shield posture when the equipment bridge enters the turn, one dragging cylinder is shielded as far as possible under the condition that the edge of the track is not interfered with trolley wheels, and the equipment bridge is convenient to pass by combining with the condition shown in fig. 4, and pulling the dragging cylinder to form a difference in advance by extending and retracting the other dragging cylinder.
S4, when the TBM front shield and the cutter head just enter the turning section, adopting a construction operation thought of 'short footage, duty step change and direction adjustment'. And simultaneously, the tunneling direction of the TBM is adjusted, so that the tunneling axis of the TBM starts to gradually fit to the tunnel design axis.
Specifically, each tunneling cycle of the TBM is changed from 1.5m to 0.5m, and tunneling is continued after TBM step change and direction adjustment are performed after tunneling is completed. Also taking right turning as an example, continuing the step S2, combining the current circular curve turning radius of the tunnel and the horizontal attitude of the TBM, and controlling the horizontal attitude of the TBM cutterhead to be corrected to the left by 10mm per meter until the horizontal attitude reaches 0. Therefore, the turning radius of 90m can be changed into the turning radius of 90.461m, the right turning point circular curve radian is slowed down, the interference between the main machines is reduced, and the interference between the rear supporting trolley and the rock wall or the steel arch when entering the cutting point is reduced.
S5, in the TBM turning tunneling process, adjusting TBM tunneling parameters, and slowly advancing into a turning section under the condition of ensuring that the cutter and the gesture are normal. Closely pay attention to the matching condition of the inner telescopic shield and the outer telescopic shield, and the gesture of the inner shield is changed by controlling the elongation of the telescopic cylinder, so that interference is avoided. Meanwhile, the positions of the total station and the rearview prism are changed in time by field measurement personnel so as to accurately position the TBM pose.
Specifically, when entering the turning section, the shield does not completely enter the turning section, so that the attitude of the cutterhead is difficult to control, at the moment, the tunneling thrust is reduced, the torque of the cutterhead is reduced, the tunneling speed is slowed down, and the cutterhead slowly advances under the condition of ensuring the normal states of a cutter and the attitude. In combination with this, when the TBM is transferred from the straight line section to the 90m turn section, the driving thrust is reduced from 20800kN to 22300kN to 11800kN, and the cutter torque is reduced from 1800 kN.m to 2700 kN.m to 1400 kN.m to 2300 kN.m. The simultaneous turning section tunneling is performed in a high-rotation-speed and small-penetration mode, so that the stress difference of a single cutter body in different running directions is reduced, the resistance of the cutter is reduced as much as possible, and the cutter is protected.
More specifically, edge hob and gauge cutter cushion blocks are added or large-size cutters are replaced at the ultra-small turning section under appropriate conditions, the hole digging diameter is increased, the blocking and shielding phenomenon of a host machine is reduced, the tunneling efficiency is improved, and the TBM turns smoothly. However, when using the overexcavation device, the overexcavation amount is strictly controlled; under the condition of not interfering with surrounding rock mass, the left cylinder of the telescopic inner shield is properly manually stretched out in the step-changing process, meanwhile, the cooperation of the inner and outer telescopic shields is noted, the telescopic outer shield is fixedly connected with the front shield, and along with the change of the posture of the front shield, the posture of the telescopic inner shield is required to be changed by adjusting the telescopic cylinder, so that the cooperation of the telescopic inner shield and the telescopic outer shield is kept consistent with the turning trend; and the construction measurement frequency is increased, the number of the station changing intervals is reduced from 75m of the linear section to 10m of the turning section, and the measurement accuracy of the TBM in the construction of the turning section is ensured.
In addition to the above-mentioned TBM tunneling direction attitude control method, step S2 also provides a calculation method of the propulsion cylinder travel difference, which provides a quantized data theory support for TBM tunneling direction attitude control. The method specifically comprises a calculation method of the TBM under the following two conditions, wherein the first condition is a tunneling state of the TBM from a straight line segment to a curve segment, and the second condition is a tunneling state of the TBM completely entering the curve segment.
Second embodiment:
in the embodiment, the calculation of the stroke difference value of the thrust cylinder in the first case is described, and when the transition phase of the TBM from the straight line segment to the curve segment is performed, in order to ensure that the TBM advances according to the tunnel design axis, the center of the support shield and the support point of the front shield in an ideal state need to be always on the tunnel design axis.
The first case is that the initial time is when the front support point reaches the point where the straight line segment and the curved line segment meet, and the final time is that the support shoe reaches the point where the straight line segment and the curved line segment meet.
When calculating the difference value of the propulsion cylinder under the first condition, the following turning tunneling steps are needed to be known:
s1, FIG. 6 shows the position of the TBM after the TBM starts to tunnel forward for one stroke at the initial time. The dotted line part is the position of the front shield at the initial moment, the solid line part is the position of the front shield after tunneling one stroke, the tunneling distance of the front shield is s, and the deflection angle is alpha.
S2, then the TBM support shield support boot is retracted, reset and then the tunnel wall is braced, and the TBM front shield continues to tunnel forwards, consistent with the step S1.
And S3, finally, repeating the steps S1 and S2 until the supporting shoe reaches the tangent point of the straight line segment and the curve segment, and completing tunneling of the transition segment, as shown in fig. 8.
Specifically, as shown in fig. 5 and 6, the number of tunneling steps N required by the TBM in the first case needs to be determined according to the tunneling distance s, and the number of steps N can be obtained by the following expression:
wherein, the liquid crystal display device comprises a liquid crystal display device,for the distance of the support shoe centre to the support point, < >>The distance from the center of the front shield to the supporting point is s is tunneling distance, and the distance is +.>The function represents a maximum integer not smaller than a certain number.
Specifically, under the condition that the turning radius R is determined, determining the angle α of deflection after the cutterhead digs, according to the geometric relationship of fig. 6, the following expression can be obtained:
when TBM steps to the nth step in the first case) According to FIG. 7, the total deflection angle of the cutterhead can be derived +.>Meanwhile, the following calculation formula is obtained according to the auxiliary line and the geometric relationship:
wherein, the liquid crystal display device comprises a liquid crystal display device,the distance from the center of the supporting boot to the tangent point of the straight line segment and the curve segment is set; d is the diameter of the distributed pitch circle of the propulsion cylinder; />The distance from the center of the supporting boot to the front panel of the supporting shield is set; />The total length of the inner propulsion cylinder; />The total length of the outboard propulsion cylinder.
The calculation according to the formula can obtain the travel difference between the inner side and the outer side of the thrust cylinder when the cutter head digs further from the initial moment in the tunnel with the turning radius R of the TBM:
third embodiment:
in this embodiment, the calculation of the stroke difference of the thrust cylinder in the second case is similar to the transition phase from the straight line segment to the curve segment of the TBM, so as to ensure that the center of the support shield and the support point of the front shield in an ideal state need to be always on the tunnel design axis in order to advance according to the tunnel design axis.
In the second case, since the tunneling is performed in a pure curve, the tunneling process is a repeated process, and there is no initial time and no termination time.
When calculating the stroke difference value of the propulsion cylinder under the second condition, the following turning tunneling steps are needed to be known:
s1, as shown in FIG. 9, in the initial state, the cutterhead and the supporting boot form a certain angle delta.
S2, as shown in FIG. 10, the cutterhead starts to tunnel forward one stroke later. The dotted line part is the position of the front shield at the initial time, the solid line part is the position of the front shield after tunneling one stroke, the tunneling distance of the front shield is s, and the deflection angle is alpha as in the first embodiment.
S3, then the TBM support shield support boots are retracted, reset and then the tunnel wall is braced, and the TBM front shield continues to tunnel forwards, and the step S2 is consistent.
And S4, finally, repeatedly executing the steps S2 and S3 until the tunneling of the curve segment is completed.
The following calculation concept corresponds to that of the second embodiment.
When entering a turning section for tunneling, a certain angle delta exists between the cutterhead and the supporting boot in an initial state, and the angle delta is the sum of the accumulated angles under the first condition, namely:
where N is the total number of steps in the second embodiment.
After the cutterhead is driven forward for one stroke, as shown in fig. 10, the following calculation formula can be obtained according to the auxiliary line and the geometric relationship:
wherein, the liquid crystal display device comprises a liquid crystal display device,the cutter head is driven forwards for s and then forms an angle with the supporting boot; d is the diameter of the distributed pitch circle of the propulsion cylinder; />The distance from the center of the supporting boot to the front panel of the supporting shield is set; />The total length of the inner propulsion cylinder; />The total length of the outboard propulsion cylinder.
According to the calculation, the stroke difference between the inner side and the outer side of the thrust cylinder when the cutter head digs further in the process of tunneling the TBM in the pure curve segment can be obtained:
in summary, by adopting the TBM tunneling direction attitude control method provided by the invention, the TBM can be tunneled along a gentler route within the allowable deviation range of the tunnel axis, so that the TBM can realize rapid and safe tunneling under the condition that the tunnel design axis requirement is met, and the overall passing efficiency of the TBM is improved. Meanwhile, an accurate control value is provided for TBM tunneling direction gesture control by calculating a propulsion oil cylinder travel difference value, so that the interference problem between devices is avoided, and quantized theoretical data guidance and basis are provided for TBM tunneling direction gesture operation control.
In the foregoing description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways other than those described herein, and persons skilled in the art will readily appreciate that the present invention is not limited to the specific embodiments disclosed above.
Claims (4)
1. A tunneling direction posture regulation and control method of a large-diameter small-turn tunnel TBM is characterized in that the TBM is a novel open TBM and comprises a front shield, a support shield, a grouping propulsion cylinder, support boots, support boot cylinders, torque cylinders and torque arms, wherein a rear main beam of the support shield is connected with an equipment bridge through traction cylinders, two traction cylinders are arranged and distributed side by side left and right, and posture regulation of the equipment bridge is realized by regulating the stroke difference of the two traction cylinders; the cutter head is arranged at the front side of the front shield, the plurality of propulsion cylinders are divided into four groups of ABCD, the propulsion cylinders in the upper, lower, left and right four bit areas of the TBM are parallel to each other, and all the propulsion cylinders of the TBM are parallel in the turning process; the novel TBM carries out small-turning tunneling with the turning radius less than or equal to 300m in a large-diameter tunnel with the diameter more than or equal to 8m, and comprises the following steps:
s1, when the distance from the TBM to a curve tunnel turning radius cut-in point is greater than the position of the TBM host length, determining the position and the gesture of the TBM in the curve tunnel;
s2, when the distance between the TBM and the turning radius cut-in point is equal to the length position of the TBM host, the stroke difference of the pushing oil cylinders is formed by adjusting the elongation of the pushing oil cylinders in the upper, lower, left and right four units of the TBM, the positions of a front shield of the TBM and a cutter head of the TBM are regulated and controlled, and the position and the posture of the supporting shield are controlled by controlling the elongation of left and right supporting shoes on the supporting shield, so that the supporting shield starts tunneling towards the inward bending direction of a curved tunnel turning section, the tunneling axis of the TBM and the tunnel design axis gradually deviate along with the forward tunneling of the TBM, and the TBM gradually deviates inwards bending towards the turning section; when the TBM reaches the turning section entry point, the deviation between the TBM tunneling axis and the tunnel design axis reaches the maximum, and the maximum allowable deviation of the tunnel design axis is not exceeded:
in the first case, the TBM is tunneled from the transition section from the straight line section to the curve section, and the stroke difference value of the propulsion oil cylinder is calculated as follows:
determining the number of tunneling steps required by the TBM in the transition section by using a formula (1):
（1）
wherein N is TBM tunneling progress number;for the distance of the centre of the support shoe to the front shield support point +.>The distance from the center of the front shield to the front shield supporting point is s is tunneling distance, and +.>The function represents a maximum integer not smaller than a certain number;
under the condition of determining the turning radius, determining the relation between the tunneling distance of the cutterhead and the deflection angle of the cutterhead by using a formula (2):
（2）
wherein alpha is the deflection angle of the cutter head, and R is the radius of the turning section;
determining a stroke difference value of the thrust cylinder during each tunneling process according to the geometric relation of the TBM in the tunneling process; when TBM steps to the nth step in the first case) The total deflection angle of the cutterhead is obtained>Meanwhile, the following calculation formula is obtained according to the auxiliary line and the geometric relationship:
；/>；/>；/>；；/>；/>；/>；/>；；/>；/>；/>；the method comprises the steps of carrying out a first treatment on the surface of the Wherein (1)>The distance from the center of the supporting boot to the tangent point of the straight line segment and the curve segment is set; d is the diameter of the distributed pitch circle of the propulsion cylinder; />The distance from the center of the supporting boot to the front panel of the supporting shield is set; />The total length of the inner propulsion cylinder; />The total length of the outside propulsion cylinder;
the calculation according to the formula can obtain the travel difference between the inner side and the outer side of the thrust cylinder when the cutter head digs further from the initial moment in the tunnel with the turning radius R of the TBM:
；
in the second case, the deflection angle of the cutterhead and the supporting shoe in the initial state is determined by using the formula (3):
（3）
wherein N is the sum of TBM tunneling steps under the first condition;
determining the relation between the tunneling distance of the cutterhead and the deflection angle of the cutterhead by using the following formula (4):
（4）
determining a stroke difference value of the propulsion cylinder of each step according to the geometric relation of the TBM in the tunneling process:
；/>；/>；/>；/>；；/>；/>；/>；；/>the method comprises the steps of carrying out a first treatment on the surface of the Wherein (1)>The cutter head is driven forwards for s and then forms an angle with the supporting boot; d is the diameter of the distributed pitch circle of the propulsion cylinder; />The distance from the center of the supporting boot to the front panel of the supporting shield is set; />The total length of the inner propulsion cylinder; />The total length of the outside propulsion cylinder;
according to the calculation, the stroke difference between the inner side and the outer side of the thrust cylinder when the cutter head digs further in the process of tunneling the TBM in the pure curve segment can be obtained:
；
s3, when the TBM distance turning section cut-in point is half of the length of the TBM host, the TBM is adjusted to keep the turning gesture in advance;
s4, when the TBM front shield and the cutter head just enter the turning section, adjusting the tunneling direction of the TBM, and enabling the tunneling axis of the TBM to start fitting gradually to the design axis of the curve tunnel;
s5, in the TBM turning tunneling process, adjusting TBM tunneling parameters and positioning the position and the posture of the TBM.
2. The method for regulating and controlling the tunneling direction posture of the large-diameter small-turn tunnel TBM according to claim 1 is characterized in that: in step S1, the position and posture of the TBM are determined by a guiding visual recognition system on the TBM and measuring the posture of the TBM on site, where 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 shield and a MARK lamp behind the front shield.
3. The method for regulating and controlling the tunneling direction posture of the large-diameter small-turn tunnel TBM according to claim 1 is characterized in that: in the step S4, a construction operation mode of 'short footage, duty step change and direction adjustment' is adopted, and meanwhile, the tunneling direction of the TBM is adjusted; and after the TBM enters the turning section completely, the TBM tunneling axis is consistent with the tunnel design axis.
4. The method for regulating and controlling the tunneling direction posture of the large-diameter small-turn tunnel TBM according to claim 1 is characterized in that: in the step S5, the TBM tunneling parameters are adjusted by reducing tunneling thrust, reducing cutter torque and slowing tunneling speed, and the TBM is positioned in position and posture through a total station and a rearview prism.
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