EP0791725A1 - Method and device for automatically placing tunnel lining segments - Google Patents

Method and device for automatically placing tunnel lining segments Download PDF

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Publication number
EP0791725A1
EP0791725A1 EP97400019A EP97400019A EP0791725A1 EP 0791725 A1 EP0791725 A1 EP 0791725A1 EP 97400019 A EP97400019 A EP 97400019A EP 97400019 A EP97400019 A EP 97400019A EP 0791725 A1 EP0791725 A1 EP 0791725A1
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EP
European Patent Office
Prior art keywords
segment
tunnel
segments
reference point
laid
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP97400019A
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German (de)
French (fr)
Inventor
Jean-Pierre Bibes
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NFM Technologies SAS
Original Assignee
Neyrpic Framatome Mecanique
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Filing date
Publication date
Application filed by Neyrpic Framatome Mecanique filed Critical Neyrpic Framatome Mecanique
Publication of EP0791725A1 publication Critical patent/EP0791725A1/en
Withdrawn legal-status Critical Current

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    • E—FIXED CONSTRUCTIONS
    • E21—EARTH DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D11/00—Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
    • E21D11/40—Devices or apparatus specially adapted for handling or placing units of linings or supporting units for tunnels or galleries
    • E21D11/403—Devices or apparatus specially adapted for handling or placing units of linings or supporting units for tunnels or galleries combined with the head machine
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D11/00—Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
    • E21D11/04—Lining with building materials
    • E21D11/08—Lining with building materials with preformed concrete slabs
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D11/00—Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
    • E21D11/40—Devices or apparatus specially adapted for handling or placing units of linings or supporting units for tunnels or galleries
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
    • E21D9/003—Arrangement of measuring or indicating devices for use during driving of tunnels, e.g. for guiding machines
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
    • E21D9/06—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining
    • E21D9/08—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
    • E21D9/0873—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 the shield being provided with devices for lining the tunnel, e.g. shuttering

Definitions

  • the subject of the present invention is a method and a device for automatically laying segments in the interior of a tunnel dug by a drilling machine, in particular a tunnel boring machine of the full face type.
  • the tunnel boring machines generally comprise a cutting wheel driven in rotation at a speed determined according to the nature of the excavated ground and a ring of jacks arranged at the rear periphery of the tunnel boring machine at an end opposite to the cutting wheel.
  • covering elements commonly called segments
  • segments are placed on the inner wall of the tunnel.
  • complete rings are produced by assembling the segments.
  • the segments are each in the form of a precast curved concrete or cast iron plate and have a weight that varies between 1 and 15 tonnes.
  • segments are stored in a store located at the rear of the tunnel boring machine and are taken one after the other from this store by a manipulator arm called segment erector and fixed inside the tunnel contiguously laterally to form a longitudinal succession annular series of segments.
  • the segments provide by their front faces a support for the crown of jacks which, arranged at the rear of the tunnel boring machine along the wall of the tunnel, exert on it thrust necessary for the excavation of the land crossed.
  • the variations in the direction of the TBM are obtained by thrust differences between the different cylinders distributed around the periphery of the TBM.
  • the object of the invention is to avoid these drawbacks by proposing a method and a device for automatically installing the segments making it possible to assist the operator in the positioning of the segments and to increase the positioning accuracy, while eliminating this operator from the danger zone.
  • the invention also relates to an automatic device for installing segments in a tunnel dug by a tunnel boring machine of the type comprising a cutting wheel, a ring of jacks arranged at the rear periphery of the boring machine at an end opposite to the cutting wheel and intended to bear axially on fixed elements and a segment storage store, characterized in that it comprises means for determining the position of at least one reference point on at least one face d '' a segment previously laid and at least one reference point on the pusher to be placed, means for memorizing the position of said at least reference point of the segment previously laid and means for gripping and moving the segment to be placed for bring the said reference points into agreement and form a longitudinal succession of annular series of segments inside the tunnel.
  • a tunnel boring machine for example of the full-face type, designated as a whole by the reference 1 and which consists, in a conventional manner, of a generally cylindrical casing 2, at the front of which is arranged a cutting wheel, has been represented schematically 3 provided with cutting tools, not shown, intended for felling the ground under the advance of the tunnel boring machine.
  • This cutting wheel 3 is rotated by at least one motor 4 at a determined speed which depends on the nature of the ground to be dug.
  • the tunnel boring machine 1 also includes means for evacuating the rubble which is formed, in the example shown in FIG. 1, by an endless screw 5 extending from the front part towards the rear part of the tunnel boring machine 1.
  • the tunnel boring machine 1 also includes means 6 for axially moving the cutting wheel 3, a store 7 for storing segments 10 and means 8 for gripping and moving said segments 10.
  • the segments 10 made up of curved precast concrete or cast iron plates are intended to consolidate the internal wall 9 of the tunnel.
  • the means 8 for gripping and moving comprise a manipulator arm 8a supporting a table 8b which itself supports a member 8c for gripping each segment 10, constituted for example by a suction cup or an appropriate mechanism.
  • the gripping and displacement means 8 take each segment 10 from the magazine 7 and place it inside the tunnel contiguously laterally to form a longitudinal succession of annular series 11 of segments 10, as shown in FIG. 2. Concrete is then injected between the external face of the segments and the internal wall 9 of the tunnel.
  • the gripping and displacement means 8 comprise at least three degrees of freedom relative to the TBM and are equipped with a remote control so that the operator is in an area located a few meters from the segment of installation of the segments 10 .
  • the segments 10 are preferably angularly offset from one ring 11 to the other.
  • the segments 10 are assembled together by suitable members such as, for example, bolts, not shown.
  • the means 6 for axially moving the cutting wheel 3 are formed by a ring of jacks 6a arranged at the rear periphery of the tunnel boring machine 1 at an end opposite to the cutting wheel 3.
  • the jacks 6a for example hydraulic, come to bear against the edge of the segments 10 placed inside the tunnel so as to exert on said cutting wheel 3 the thrust necessary for the excavation of the land crossed.
  • the variations in direction of the cutting wheel 3 are obtained by thrust differences between the various jacks 6a distributed at the rear periphery of the tunnel boring machine 1.
  • the jacks 6a are supplied by a hydraulic circuit, not shown, contained in the volume of the tunneling machine 1.
  • the tunnel boring machine 1 is also equipped with a device for installing the segments 10 inside the tunnel which makes it possible to assist an operator in the successive installation of said segments 10 to form the longitudinal succession of annular series 11 of segments 10.
  • This installation device for segments 10 comprises means for determining the position of at least one reference point on at least one face of a segment 10a previously laid and at least one reference point on the segment 10b to be laid. moved by the gripping and displacement means 8.
  • these means 20 for determining the reference points are formed by at least one measurement sensor 21 mounted on the upper face of the table 8b.
  • This measurement sensor 21 is constituted by for example by a scanning laser sensor or a distance meter or a radar or a camera or any other telemetry system.
  • the operator controls the manipulator arm 8a so that the gripping member 8c takes a segment 10b to be placed from the magazine 7 and performs a very rough visual approach to this segment 10b to install segments 10a previously placed.
  • the accuracy is around 200mm.
  • the measurement sensor 21 is placed in the field of segments 10a previously placed, as shown in Fig. 3.
  • the measurement sensor 21 determines the position of at least one reference point and for example of two reference points, respectively A and B, on at least one face of one or more segments 10a previously placed.
  • the measurement sensor 21 also determines the position of at least one reference point and for example of two reference points A 'and B' on at least one face of the segment 10b to be laid.
  • the reference points A 'and B' of the segment 10b to be laid are intended to come into correspondence with the reference points A and B of the segments 10a to be laid and are intended to come into correspondence with the reference points A and B of the segments 10a previously laid.
  • the computer determines the relative positions of the reference surfaces of the segment 10b to be laid with respect to the reference surfaces of the segment 10a previously laid and secondly determines the movements which the manipulator arm 8a and the table 8b must follow. in order to bring the segment 10b to pose until its final position.
  • the information thus determined is transmitted to the control system of the means 8 for moving the segment 10b and this segment 10b is automatically placed in its final position.
  • the operation is repeated for each segment to be laid.
  • these means 20 for determining said reference points are formed by at least one measurement sensor 21 mounted on a support 22 movable in a plane perpendicular to the longitudinal axis of the tunnel.
  • This measurement sensor 21 can also be angularly movable and is constituted for example by a scanning laser sensor or a distance meter or a radar or a camera or any other telemetry system.
  • the support of this measurement sensor 21 is formed by a carriage 22 displaceable on a rail 23 which is either fixed to the structure of the tunnel boring machine 1, or positioned on the segments 10a previously placed inside the tunnel.
  • the rail 23 is positioned on the segments 10 previously laid.
  • This rail 23 is flexible and is shaped so as to obtain a spring effect which allows applying said rail 23 to the support surface.
  • the operator controls the manipulator arm 8a so that the gripping member 8c takes a segment 10b to be placed from the magazine 7 and performs a very rough visual approach to this segment 10b to be placed from the segment 10a previously placed.
  • the accuracy is around 200 mm.
  • the operator controls the movement of the carriage 22 on the rail 23 so that the measurement sensor 21 is placed in the field of the segment 10b to be installed, as shown in FIG. 4.
  • the measurement sensor 21 determines the position of at least one reference point A on at least one face of the segment 10a previously laid, this reference point being constituted for example by the edge between two lateral faces of this segment 10a previously laid .
  • the measurement sensor 21 determines the position of at least one reference point B on at least one face of the segment 10b to be laid, this reference point B being constituted for example by an edge between two lateral faces of the segment 10b to be laid.
  • the reference point B of the segment 10b to be placed is intended to come into agreement with the reference point A of the segment 10a previously laid.
  • This reference point B is memorized and transmitted to a computer.
  • the position in space of the segment 10b to be laid is determined relative to the position of the segment 10a previously laid.
  • the computer determines the relative positions of the reference surfaces of the segment 10b to be laid with respect to the reference surfaces of the segment 10a previously laid and in a second step determines the movements which the manipulator arm 8a and the table 8b must follow in order to bring said segment 10b to its final position.
  • the information thus determined is sent to the control system of the means of displacement of the segment and the segment 10b to be placed is automatically placed in its final position as shown in FIG. 5.
  • the operation is repeated for each segment to be placed by moving the carriage 22 as well as the measurement sensor 21 to bring this measurement sensor 21 into the field of the segment to be placed.
  • the segments 10 are fixed to each other by suitable members.
  • the reference points on the segments can be formed for example by sharp edges, flat or cylindrical surfaces of the segments.
  • the laying device according to the invention therefore makes it possible to automatically carry out the positioning of the segments within the tunnel and to increase the speed and the precision of laying of these segments which is important taking into account the number of segments to be laid for the complete construction of a tunnel.

Abstract

The procedure consists of taking each lining block (10) in turn from a magazine (7) and locating and fixing it against the inner wall of the tunnel as it is made by a tunnelling machine (1). The locating is carried out with the aid of a detector (21) which measures and memorises a reference point on the previously-laid block and positions the new block in relation to the reference point. The tunnelling machine has a cutting wheel (3), a ring of power cylinders (6a), and a gripper (8) to pick up and manipulate the blocks from the magazine, guided by the position detector (21). The detector is in the form of a trolley travelling along a rail lying in a plane perpendicular to the tunnel's lengthwise axis, and operates by laser beam, radar or a telemetry system.

Description

La présente invention a pour objet un procédé et un dispositif de pose automatique de voussoirs à l'intérieur d'un tunnel creusé par une machine de forage, notamment un tunnelier du type pleine face.The subject of the present invention is a method and a device for automatically laying segments in the interior of a tunnel dug by a drilling machine, in particular a tunnel boring machine of the full face type.

Les tunneliers comprennent généralement une roue de coupe entraînée en rotation à une vitesse déterminée en fonction de la nature du terrain creusé et une couronne de vérins disposés à la périphérie arrière du tunnelier en une extrémité opposée à la roue de coupe.The tunnel boring machines generally comprise a cutting wheel driven in rotation at a speed determined according to the nature of the excavated ground and a ring of jacks arranged at the rear periphery of the tunnel boring machine at an end opposite to the cutting wheel.

Pour consolider le tunnel, des éléments de revêtement, couramment appelés voussoirs, sont posés sur la paroi interne du tunnel. Par exemple dans le cas d'un forage à l'aide d'un tunnelier pleine face, on réalise des anneaux complets par assemblage des voussoirs.To consolidate the tunnel, covering elements, commonly called segments, are placed on the inner wall of the tunnel. For example, in the case of drilling using a full-face tunnel boring machine, complete rings are produced by assembling the segments.

Les voussoirs se présentent chacun sous la forme d'une plaque courbe préfabriquée en béton ou en fonte et ont un poids qui varie entre 1 et 15 tonnes.The segments are each in the form of a precast curved concrete or cast iron plate and have a weight that varies between 1 and 15 tonnes.

Ces voussoirs sont stockés dans un magasin situé à l'arrière du tunnelier et sont prélevés les uns après les autres de ce magasin par un bras manipulateur appelé érecteur de voussoirs et fixés à l'intérieur du tunnel de manière contiguë latéralement pour former une succession longitudinale de séries annulaires de voussoirs.These segments are stored in a store located at the rear of the tunnel boring machine and are taken one after the other from this store by a manipulator arm called segment erector and fixed inside the tunnel contiguously laterally to form a longitudinal succession annular series of segments.

Outre, la fonction de consolidation de la paroi interne du tunnel, les voussoirs assurent par leurs faces avant un appui pour la couronne de vérins qui, disposés à l'arrière du tunnelier le long de la paroi du tunnel, exercent sur celui-ci la poussée nécessaire à l'excavation des terrains traversés.In addition, the consolidation function of the internal wall of the tunnel, the segments provide by their front faces a support for the crown of jacks which, arranged at the rear of the tunnel boring machine along the wall of the tunnel, exert on it thrust necessary for the excavation of the land crossed.

Les variations de direction du tunnelier sont obtenues par des écarts de poussée entre les différents vérins répartis à la périphérie du tunnelier.The variations in the direction of the TBM are obtained by thrust differences between the different cylinders distributed around the periphery of the TBM.

Jusqu'à présent, l'approche et le positionnement des voussoirs sont réalisés de manière visuelle par un opérateur qui commande le bras manipulateur de façon à prélever successivement chaque voussoir du magasin et à le poser à l'intérieur du tunnel à un emplacement déterminé.Up to now, the approach and positioning of the segments are visually carried out by an operator who controls the manipulator arm so as to successively take each segment from the store and place it inside the tunnel at a determined location.

L'opérateur se déplace donc en permanence dans la zone de travail ce qui présente des risques compte tenu de l'environnement et la pose des voussoirs de manière visuelle est relativement longue et aléatoire ce qui peut amener un décalage entre les différentes séries annulaires de voussoirs étant donné la répétition des opérations de manutention de l'ensemble de ces voussoirs.The operator is therefore constantly on the move in the work area, which poses risks given the environment, and the installation of segments in a visual manner is relatively long and random, which can lead to a discrepancy between the different annular series of segments. given the repetition of handling operations for all of these segments.

L'invention a pour but d'éviter ces inconvénients en proposant un procédé et un dispositif de pose automatique des voussoirs permettant d'assister l'opérateur dans le positionnement des voussoirs et d'augmenter la précision du positionnement, tout en écartant cet opérateur de la zone de danger.The object of the invention is to avoid these drawbacks by proposing a method and a device for automatically installing the segments making it possible to assist the operator in the positioning of the segments and to increase the positioning accuracy, while eliminating this operator from the danger zone.

L'invention a donc pour objet un procédé de pose automatique de voussoirs à l'intérieur d'un tunnel creusé par un tunnelier, dans lequel on prélève chaque voussoir d'un magasin de stockage et on pose et on fixe successivement chaque voussoir à l'intérieur du tunnel de manière contiguë latéralement pour former une succession longitudinale de séries annulaires de voussoirs, caractérisé en ce que pour la pose de chaque voussoir :

  • on approche un voussoir à poser d'un voussoir précédemment posé,
  • on détermine au moyen d'au moins un capteur de mesure la position d'au moins un point de référence sur une face latérale du voussoir précédemment posé sur la paroi,
  • on mémorise la position dudit au moins point de référence,
  • on détermine au moyen dudit capteur de mesure la position d'au moins un point de référence sur au moins une face du voussoir à poser, ledit au moins point de référence du voussoir à poser étant destiné à venir en concordance avec ledit au moins point de référence du voussoir précédemment posé,
  • et on déplace le voussoir à poser pour que lesdits points de référence viennent en concordance.
The subject of the invention is therefore an automatic method of laying segments in a tunnel dug by a tunnel boring machine, in which each segment is removed from a storage store and each segment is laid and successively fixed to the 'interior of the tunnel contiguously laterally to form a longitudinal succession of annular series of segments, characterized in that for the installation of each segment:
  • we approach a segment to be placed from a segment previously laid,
  • the position of at least one reference point on a lateral face of the segment previously placed on the wall is determined by means of at least one measurement sensor,
  • the position of said at least is memorized benchmark,
  • the position of at least one reference point on at least one face of the segment to be laid is determined by means of said measurement sensor, said at least reference point of the segment to be laid being intended to come into concordance with said at least point of reference of the segment previously laid,
  • and the segment to be moved is moved so that said reference points come into agreement.

L'invention a également pour objet un dispositif de pose automatique de voussoirs à l'intérieur d'un tunnel creusé par un tunnelier du type comprenant une roue de coupe, une couronne de vérins disposés à la périphérie arrière du tunnelier en une extrémité opposée à la roue de coupe et destinés à prendre appui axialement sur des éléments fixes et un magasin de stockage des voussoirs, caractérisé en ce qu'il comporte des moyens de détermination de la position d'au moins un point de référence sur au moins une face d'un voussoir précédemment posé et d'au moins un point de référence sur le poussoir à poser, des moyens de mémorisation de la position dudit au moins point de référence du voussoir précédemment posé et des moyens de préhension et de déplacement du voussoir à poser pour amener en concordance lesdits points de référence et former à l'intérieur du tunnel une succession longitudinale de séries annulaires de voussoirs.The invention also relates to an automatic device for installing segments in a tunnel dug by a tunnel boring machine of the type comprising a cutting wheel, a ring of jacks arranged at the rear periphery of the boring machine at an end opposite to the cutting wheel and intended to bear axially on fixed elements and a segment storage store, characterized in that it comprises means for determining the position of at least one reference point on at least one face d '' a segment previously laid and at least one reference point on the pusher to be placed, means for memorizing the position of said at least reference point of the segment previously laid and means for gripping and moving the segment to be placed for bring the said reference points into agreement and form a longitudinal succession of annular series of segments inside the tunnel.

Selon d'autres caractéristiques de l'invention:

  • les moyens de détermination sont formés par au moins un capteur de mesure monté sur les moyens de préhension et de déplacement du voussoir à poser,
  • les moyens de détermination sont formés par au moins un capteur de mesure monté sur un support déplaçable dans un plan perpendiculaire à l'axe longitudinal du tunnel,
  • ledit capteur de mesure est déplaçable angulairement,
  • le support dudit capteur de mesure est formé par un chariot déplaçable sur un rail disposé dans un plan perpendiculaire à l'axe longitudinal du tunnel,
  • ledit capteur de mesure est formé par un capteur laser à balayage ou un distancemètre ou un radar ou par un système de télémesure.
According to other characteristics of the invention:
  • the determination means are formed by at least one measurement sensor mounted on the means for gripping and moving the segment to be laid,
  • the determination means are formed by at least one measurement sensor mounted on a support movable in a plane perpendicular to the longitudinal axis from the tunnel,
  • said measurement sensor is angularly displaceable,
  • the support of said measurement sensor is formed by a carriage movable on a rail arranged in a plane perpendicular to the longitudinal axis of the tunnel,
  • said measurement sensor is formed by a scanning laser sensor or a distance meter or a radar or by a telemetry system.

D'autres caractéristiques et avantages de l'invention apparaîtront au cours de la description qui va suivre, donnée uniquement à titre d'exemple et faite en référence aux dessins annexés, sur lesquels :

  • la Fig. 1 est une vue schématique en coupe axiale, avec arrachement partiel, d'un tunnelier équipé d'un dispositif de pose de voussoirs selon l'invention,
  • la Fig. 2 est une vue schématique en perspective d'une portion d'un tunnel partiellement recouvert de voussoirs,
  • la Fig. 3 est une vue schématique en perspective montrant la pose d'un voussoir avec un premier mode de réalisation du dispositif selon l'invention.
  • les Figs. 4 et 5 sont des vues schématiques en perspective montrant les étapes de pose d'un voussoir avec un second mode de réalisation du dispositif selon l'invention.
Other characteristics and advantages of the invention will become apparent during the description which follows, given solely by way of example and made with reference to the appended drawings, in which:
  • Fig. 1 is a schematic view in axial section, with partial cutaway, of a tunnel boring machine equipped with a segment fitting device according to the invention,
  • Fig. 2 is a schematic perspective view of a portion of a tunnel partially covered with segments,
  • Fig. 3 is a schematic perspective view showing the installation of a segment with a first embodiment of the device according to the invention.
  • Figs. 4 and 5 are schematic perspective views showing the steps for installing a segment with a second embodiment of the device according to the invention.

Sur la Fig. 1, on a représenté schématiquement un tunnelier par exemple du type pleine face désigné dans son ensemble par la référence 1 et qui se compose, de manière classique, d'une enveloppe 2 généralement cylindrique à l'avant de laquelle est disposée une roue de coupe 3 munie d'outils de coupe, non représentés, destinés à l'abattage du terrain sous l'avance du tunnelier.In Fig. 1, a tunnel boring machine, for example of the full-face type, designated as a whole by the reference 1 and which consists, in a conventional manner, of a generally cylindrical casing 2, at the front of which is arranged a cutting wheel, has been represented schematically 3 provided with cutting tools, not shown, intended for felling the ground under the advance of the tunnel boring machine.

Cette roue de coupe 3 est entraînée en rotation par au moins un moteur 4 à une vitesse déterminée qui est fonction de la nature du terrain à creuser.This cutting wheel 3 is rotated by at least one motor 4 at a determined speed which depends on the nature of the ground to be dug.

Le tunnelier 1 comporte aussi des moyens d'évacuation des gravats qui sont constitués, dans l'exemple représenté sur la Fig. 1, par une vis sans fin 5 s'étendant de la partie avant vers la partie arrière du tunnelier 1.The tunnel boring machine 1 also includes means for evacuating the rubble which is formed, in the example shown in FIG. 1, by an endless screw 5 extending from the front part towards the rear part of the tunnel boring machine 1.

Le tunnelier 1 comporte également des moyens 6 de déplacement axialement de la roue de coupe 3, un magasin 7 de stockage de voussoirs 10 et des moyens 8 de préhension et de déplacement desdits voussoirs 10.The tunnel boring machine 1 also includes means 6 for axially moving the cutting wheel 3, a store 7 for storing segments 10 and means 8 for gripping and moving said segments 10.

Les voussoirs 10 constitués par des plaques courbe en béton préfabriqué ou en fonte sont destinés à consolider la paroi interne 9 du tunnel.The segments 10 made up of curved precast concrete or cast iron plates are intended to consolidate the internal wall 9 of the tunnel.

Pour cela, les moyens 8 de préhension et de déplacement comprennent un bras manipulateur 8a supportant une table 8b qui elle même supporte un organe 8c de préhension de chaque voussoir 10, constitué par exemple par une ventouse ou un mécanisme approprié.For this, the means 8 for gripping and moving comprise a manipulator arm 8a supporting a table 8b which itself supports a member 8c for gripping each segment 10, constituted for example by a suction cup or an appropriate mechanism.

Les moyens 8 de préhension et de déplacement prélève chaque voussoir 10 du magasin 7 et le pose à l'intérieur du tunnel de manière contigüe latéralement pour former une succession longitudinale de séries annulaires 11 de voussoirs 10, comme représenté à la Fig. 2. Du béton est ensuite injecté entre la face externe des voussoirs et la paroi interne 9 du tunnel.The gripping and displacement means 8 take each segment 10 from the magazine 7 and place it inside the tunnel contiguously laterally to form a longitudinal succession of annular series 11 of segments 10, as shown in FIG. 2. Concrete is then injected between the external face of the segments and the internal wall 9 of the tunnel.

Les moyens 8 de préhension et de déplacement comportent au moins trois degrés de liberté par rapport au tunnelier et sont équipés d'une commande déportée si bien que l'opérateur se trouve dans une zone située à quelques mètres de la zone de pose des voussoirs 10.The gripping and displacement means 8 comprise at least three degrees of freedom relative to the TBM and are equipped with a remote control so that the operator is in an area located a few meters from the segment of installation of the segments 10 .

Les voussoirs 10 sont de préférence décalés angulairement d'un anneau 11 à l'autre.The segments 10 are preferably angularly offset from one ring 11 to the other.

Les voussoirs 10 sont assemblés entre eux par des organes appropriés comme par exemple des boulons, non représentés.The segments 10 are assembled together by suitable members such as, for example, bolts, not shown.

Les moyens 6 de déplacement axialement de la roue de coupe 3 sont formés par une couronne de vérins 6a disposés à la périphérie arrière du tunnelier 1 en une extrémité opposée à la roue de coupe 3.The means 6 for axially moving the cutting wheel 3 are formed by a ring of jacks 6a arranged at the rear periphery of the tunnel boring machine 1 at an end opposite to the cutting wheel 3.

Pour déplacer cette roue de coupe 3, les vérins 6a, par exemple hydraulique, viennent en appui contre la tranche des voussoirs 10 posés à l'intérieur du tunnel de façon à exercer sur ladite roue de coupe 3 la poussée nécessaire à l'excavation des terrains traversés.To move this cutting wheel 3, the jacks 6a, for example hydraulic, come to bear against the edge of the segments 10 placed inside the tunnel so as to exert on said cutting wheel 3 the thrust necessary for the excavation of the land crossed.

Les variations de direction de la roue de coupe 3 sont obtenues par des écarts de poussée entre les différents vérins 6a répartis à la périphérie arrière du tunnelier 1.The variations in direction of the cutting wheel 3 are obtained by thrust differences between the various jacks 6a distributed at the rear periphery of the tunnel boring machine 1.

Les vérins 6a sont alimentés par un circuit hydraulique non représenté, contenu dans le volume du tunnelier 1.The jacks 6a are supplied by a hydraulic circuit, not shown, contained in the volume of the tunneling machine 1.

Le tunnelier 1 est également équipé d'un dispositif de pose des voussoirs 10 à l'intérieur du tunnel qui permet d'assister un opérateur dans la pose successive desdits voussoirs 10 pour former la succession longitudinale de séries annulaires 11 de voussoirs 10.The tunnel boring machine 1 is also equipped with a device for installing the segments 10 inside the tunnel which makes it possible to assist an operator in the successive installation of said segments 10 to form the longitudinal succession of annular series 11 of segments 10.

Ce dispositif de pose des voussoirs 10 comporte des moyens de détermination de la position d'au moins un point de référence sur au moins une face d'un voussoir 10a précédemment posé et d'au moins un point de référence sur le voussoir 10b à poser déplacé par les moyens 8 de préhension et de déplacement.This installation device for segments 10 comprises means for determining the position of at least one reference point on at least one face of a segment 10a previously laid and at least one reference point on the segment 10b to be laid. moved by the gripping and displacement means 8.

Ainsi que représenté à la figure 3, ces moyens 20 de détermination des points de référence sont formés par au moins un capteur de mesure 21 monté sur la face supérieure de la table 8b.As shown in FIG. 3, these means 20 for determining the reference points are formed by at least one measurement sensor 21 mounted on the upper face of the table 8b.

Ce capteur de mesure 21 est constitué par exemple par un capteur laser à balayage ou un distancemètre ou un radar ou une caméra ou tout autre système de télémesure.This measurement sensor 21 is constituted by for example by a scanning laser sensor or a distance meter or a radar or a camera or any other telemetry system.

L'opérateur commande le bras manipulateur 8a pour que l'organe de préhension 8c prélève un voussoir 10b à poser du magasin 7 et réalise une approche visuelle très grossière de ce voussoir 10b à poser des voussoirs 10a précédemment posés.The operator controls the manipulator arm 8a so that the gripping member 8c takes a segment 10b to be placed from the magazine 7 and performs a very rough visual approach to this segment 10b to install segments 10a previously placed.

La précision est de l'ordre de 200mm.The accuracy is around 200mm.

Grâce au déplacement du bras manipulateur 8a et de la table 8b qui supporte le voussoir 10b à poser par l'intermédiaire de l'organe de préhension 8a, le capteur de mesure 21 est placé dans le champ des voussoirs 10a précédemment posés, comme représenté à la Fig. 3.By virtue of the movement of the manipulator arm 8a and of the table 8b which supports the segment 10b to be placed by means of the gripping member 8a, the measurement sensor 21 is placed in the field of segments 10a previously placed, as shown in Fig. 3.

Le capteur de mesure 21 détermine la position d'au moins un point de référence et par exemple de deux points de référence, respectivement A et B, sur au moins une face d'un ou des voussoirs 10a précédemment posés.The measurement sensor 21 determines the position of at least one reference point and for example of two reference points, respectively A and B, on at least one face of one or more segments 10a previously placed.

Les positions de ces points de référence A et B sont mémorisées et transmises à un calculateur non représenté.The positions of these reference points A and B are memorized and transmitted to a computer, not shown.

Le capteur de mesure 21 détermine également la position d'au moins un point de référence et par exemple de deux points de référence A' et B' sur au moins une face du voussoir 10b à poser.The measurement sensor 21 also determines the position of at least one reference point and for example of two reference points A 'and B' on at least one face of the segment 10b to be laid.

Les points de référence A' et B' du voussoir 10b à poser sont destinés à venir en concordance avec les points de référence A et B des voussoirs 10a à poser et sont destinés à venir en concordance avec les points de référence A et B des voussoirs 10a précédemment posés.The reference points A 'and B' of the segment 10b to be laid are intended to come into correspondence with the reference points A and B of the segments 10a to be laid and are intended to come into correspondence with the reference points A and B of the segments 10a previously laid.

Les positions de ces points de référence A' et B' sont mémorisées et transmises à un calculateur.The positions of these reference points A 'and B' are memorized and transmitted to a computer.

Ainsi, la position dans l'espace du voussoir 10b à poser est déterminée par rapport aux positions de voussoirs 10a précédemment posés.So the position in the space of the segment 10b to be laid is determined with respect to the segments of segments 10a previously laid.

Dans un premier temps, le calculateur détermine les positions relatives des surfaces de référence du voussoir 10b à poser par rapport aux surfaces de référence du voussoir 10a précédemment posés et dans un deuxième temps détermine les mouvements que doivent suivre le bras manipulateur 8a et la table 8b afin d'amener le voussoir 10b à poser jusqu'à sa position finale.Firstly, the computer determines the relative positions of the reference surfaces of the segment 10b to be laid with respect to the reference surfaces of the segment 10a previously laid and secondly determines the movements which the manipulator arm 8a and the table 8b must follow. in order to bring the segment 10b to pose until its final position.

Les informations ainsi déterminées sont transmises au système de commande des moyens 8 de déplacement du voussoir 10b et ce voussoir 10b est placé automatiquement dans sa position finale.The information thus determined is transmitted to the control system of the means 8 for moving the segment 10b and this segment 10b is automatically placed in its final position.

L'opération est renouvelée pour chaque voussoir à poser.The operation is repeated for each segment to be laid.

Selon une variante représentée sur les figures 4 et 5, ces moyens 20 de détermination desdits points de référence sont formés par au moins un capteur de mesure 21 monté sur un support 22 déplaçable dans un plan perpendiculaire à l'axe longitudinal du tunnel.According to a variant shown in Figures 4 and 5, these means 20 for determining said reference points are formed by at least one measurement sensor 21 mounted on a support 22 movable in a plane perpendicular to the longitudinal axis of the tunnel.

Ce capteur de mesure 21 peut également être déplaçable angulairement et est constitué par exemple par un capteur laser à balayage ou un distancemètre ou un radar ou une caméra ou tout autre système de télémesure.This measurement sensor 21 can also be angularly movable and is constituted for example by a scanning laser sensor or a distance meter or a radar or a camera or any other telemetry system.

Le support de ce capteur de mesure 21 est formé par un chariot 22 déplacable sur un rail 23 qui est soit fixé à la structure du tunnelier 1, soit positionné sur les voussoirs 10a précédemment posés à l'intérieur du tunnel.The support of this measurement sensor 21 is formed by a carriage 22 displaceable on a rail 23 which is either fixed to the structure of the tunnel boring machine 1, or positioned on the segments 10a previously placed inside the tunnel.

Dans l'exemple de réalisation représenté sur les Figs. 4 et 5, le rail 23 est positionné sur les voussoirs 10 précédemment posés.In the embodiment shown in Figs. 4 and 5, the rail 23 is positioned on the segments 10 previously laid.

Ce rail 23 est souple et est conformé de façon à obtenir un effet de ressort ce qui permet d'appliquer ledit rail 23 sur la surface de support.This rail 23 is flexible and is shaped so as to obtain a spring effect which allows applying said rail 23 to the support surface.

L'opérateur commande le bras manipulateur 8a pour que l'organe de préhension 8c prélève un voussoir 10b à poser du magasin 7 et réalise une approche visuelle très grossière de ce voussoir 10b à poser du voussoir 10a précédemment posé.The operator controls the manipulator arm 8a so that the gripping member 8c takes a segment 10b to be placed from the magazine 7 and performs a very rough visual approach to this segment 10b to be placed from the segment 10a previously placed.

La précision est de l'ordre de 200 mm.The accuracy is around 200 mm.

L'opérateur commande le déplacement du chariot 22 sur le rail 23 pour que le capteur de mesure 21 se place dans le champ du voussoir 10b à poser, comme représenté à la Fig. 4.The operator controls the movement of the carriage 22 on the rail 23 so that the measurement sensor 21 is placed in the field of the segment 10b to be installed, as shown in FIG. 4.

Le capteur de mesure 21 détermine la position d'au moins un point de référence A sur au moins une face du voussoir 10a précédemment posé, ce point de référence étant constitué par exemple par l'arête entre deux faces latérales de ce voussoir 10a précédemment posé.The measurement sensor 21 determines the position of at least one reference point A on at least one face of the segment 10a previously laid, this reference point being constituted for example by the edge between two lateral faces of this segment 10a previously laid .

La position de ce point de référence A du voussoir 10a précédemment posé est mémorisée et transmise à un calculateur non représenté.The position of this reference point A of the segment 10a previously placed is memorized and transmitted to a computer not shown.

Le capteur de mesure 21 détermine la position d'au moins un point de référence B sur au moins une face du voussoir 10b à poser, ce point de référence B étant constitué par exemple par une arête entre deux faces latérales du voussoir 10b à poser.The measurement sensor 21 determines the position of at least one reference point B on at least one face of the segment 10b to be laid, this reference point B being constituted for example by an edge between two lateral faces of the segment 10b to be laid.

Le point de référence B du voussoir 10b à poser est destiné à venir en concordance avec le point de référence A du voussoir 10a précédemment posé.The reference point B of the segment 10b to be placed is intended to come into agreement with the reference point A of the segment 10a previously laid.

La position de ce point de référence B est mémorisée et transmise à un calculateur.The position of this reference point B is memorized and transmitted to a computer.

Ainsi, la position dans l'espace du voussoir 10b à poser est déterminée par rapport à la position du voussoir 10a précédemment posé.Thus, the position in space of the segment 10b to be laid is determined relative to the position of the segment 10a previously laid.

Dans un premier temps, le calculateur détermine les positions relatives des surfaces de référence du voussoir 10b à poser par rapport aux surfaces de référence du voussoir 10a précédemment posé et dans un deuxième temps détermine les mouvements que doivent suivre le bras manipulateur 8a et la table 8b afin d'amener ledit voussoir 10b jusqu'à sa position finale.First, the computer determines the relative positions of the reference surfaces of the segment 10b to be laid with respect to the reference surfaces of the segment 10a previously laid and in a second step determines the movements which the manipulator arm 8a and the table 8b must follow in order to bring said segment 10b to its final position.

Les informations ainsi déterminées sont envoyées au système de commande des moyens 8 de déplacement du voussoir et le voussoir 10b à poser est placé automatiquement à sa position finale ainsi que représenté à la figure 5.The information thus determined is sent to the control system of the means of displacement of the segment and the segment 10b to be placed is automatically placed in its final position as shown in FIG. 5.

L'opération est renouvelée pour chaque voussoir à poser en déplaçant le chariot 22 ainsi que le capteur de mesure 21 pour amener ce capteur de mesure 21 dans le champ du voussoir à poser.The operation is repeated for each segment to be placed by moving the carriage 22 as well as the measurement sensor 21 to bring this measurement sensor 21 into the field of the segment to be placed.

Les voussoirs 10 sont fixés entre eux par des organes appropriés.The segments 10 are fixed to each other by suitable members.

Les points de référence sur les voussoirs peuvent être constitués par exemple par des arêtes vives, des surfaces planes ou cylindriques des voussoirs.The reference points on the segments can be formed for example by sharp edges, flat or cylindrical surfaces of the segments.

Le dispositif de pose selon l'invention permet donc de réaliser automatiquement le positionnement des voussoirs à l'intérieur du tunnel et d'augmenter la rapidité et la précision de pose de ces voussoirs ce qui est important compte tenu du nombre de voussoirs à poser pour la réalisation complète d'un tunnel.The laying device according to the invention therefore makes it possible to automatically carry out the positioning of the segments within the tunnel and to increase the speed and the precision of laying of these segments which is important taking into account the number of segments to be laid for the complete construction of a tunnel.

Claims (7)

Procédé de pose automatique de voussoirs (10) à l'intérieur d'un tunnel creusé par un tunnelier (1), dans lequel on prélève chaque poussoir (10) d'un magasin de stockage (7) et on pose et on fixe successivement chaque poussoir (10) à l'intérieur de ce tunnel de manière contiguë latéralement pour former une succession longitudinale de séries annulaires (11) de voussoirs (10), caractérisé en ce que pour la pose de chaque voussoir : - on approche un voussoir (10b) à poser d'un voussoir (10a) précédemment posé, - on détermine au moyen d'au moins un capteur de mesure (21) la position d'au moins un point de référence sur la face latérale du voussoir (10a) précédemment posé, - on mémorise la position dudit au moins point de référence, - on détermine au moyen dudit capteur de mesure (21) la position d'au moins un point de référence sur au moins une face du voussoir (10b) à poser, ledit au moins point de référence du voussoir (10b) à poser étant destiné à venir concordance avec ledit au moins point de référence du voussoir (10a) précédemment posé, - et on déplace le voussoir (10b) à poser pour que lesdits points de référence viennent en concordance. Method of automatically installing segments (10) inside a tunnel dug by a tunnel boring machine (1), in which each pusher (10) is removed from a storage magazine (7) and successively posed and fixed each pusher (10) inside this tunnel contiguously laterally to form a longitudinal succession of annular series (11) of segments (10), characterized in that for the installation of each segment: - a segment (10b) to be placed is approached from a segment (10a) previously laid, - the position of at least one reference point on the lateral face of the segment (10a) previously laid down is determined by means of at least one measurement sensor (21), - the position of said at least reference point is memorized, - The position of at least one reference point on at least one face of the segment (10b) to be laid is determined by means of said measurement sensor (21), said at least reference point of the segment (10b) to be laid being intended to come into agreement with said at least reference point of the segment (10a) previously laid, - And the segment (10b) to be moved is moved so that said reference points come into agreement. Dispositif de pose automatique de voussoirs (10) à l'intérieur d'un tunnel creusé par un tunnelier (1) du type comprenant une roue de coupe (3), une couronne (6) de vérins (6a) disposés à la périphérie arrière du tunnelier (1) en une extrémité opposée à la roue de coupe (3) et destinés à prendre appui axialement sur des éléments fixes et un magasin (7) de stockage des voussoirs (10), caractérisé en ce qu'il comporte des moyens (20) de détermination de la position d'au moins un point de référence sur au moins une face d'un voussoir (10a) précédemment posé et d'au moins un point de référence sur le voussoir (10b) à poser, des moyens de mémorisation de la position dudit au moins point de référence du voussoir (10a) précédemment posé et des moyens (8) de préhension et de déplacement du voussoir (10b) à poser pour amener en concordance lesdits points de référence et former sur ladite paroi (9) une succession longitudinale de séries annulaires (11) de voussoirs (10).Device for automatically installing segments (10) inside a tunnel dug by a tunnel boring machine (1) of the type comprising a cutting wheel (3), a crown (6) of jacks (6a) arranged at the rear periphery of the tunnel boring machine (1) at an end opposite to the cutting wheel (3) and intended to bear axially on fixed elements and a store (7) for storage of segments (10), characterized in that it comprises means (20) for determining the position of at least one reference point on at least one face of a segment (10a) previously laid and at least one reference point on the segment (10b) to be laid, means for memorizing the position of said at least reference point of the segment (10a) previously placed and means (8) for gripping and moving the segment (10b) to be placed to bring said reference points into concordance and form on said wall (9) a longitudinal succession of annular series (11) of segments (10). Dispositif selon la revendication 2, caractérisé en ce que les moyens (20) de détermination sont formés par au moins un capteur de mesure (21) monté sur les moyens (8) de préhension et de déplacement du voussoir (10b) à poser.Device according to claim 2, characterized in that the determination means (20) are formed by at least one measurement sensor (21) mounted on the means (8) for gripping and moving the segment (10b) to be laid. Dispositif selon la revendication 2, caractérisé en ce que les moyens (20) de détermination sont formés par au moins un capteur de mesure (21) monté sur un support (22) déplaçable dans un plan perpendiculaire à l'axe longitudinal du tunnel.Device according to claim 2, characterized in that the determination means (20) are formed by at least one measurement sensor (21) mounted on a support (22) movable in a plane perpendicular to the longitudinal axis of the tunnel. Dispositif selon la revendication 4, caractérisé en ce que ledit capteur de mesure (21) est déplaçable angulairement.Device according to claim 4, characterized in that said measurement sensor (21) is angularly displaceable. Dispositif selon la revendication 4, caractérisé en ce que le support dudit capteur de mesure (21) est formé par un chariot (22) déplaçable sur un rail (23) disposé dans un plan perpendiculaire à l'axe longitudinal du tunnel.Device according to claim 4, characterized in that the support of said measurement sensor (21) is formed by a carriage (22) movable on a rail (23) arranged in a plane perpendicular to the longitudinal axis of the tunnel. Dispositif selon l'une quelconque des revendications 2 à 6, caractérisé en ce que ledit capteur de mesure (21) est formé par un capteur laser à balayage ou un distancemètre ou un radar ou par un système de télémesure.Device according to any one of Claims 2 to 6, characterized in that the said measurement sensor (21) is formed by a scanning laser sensor or a distance meter or a radar or by a telemetry system.
EP97400019A 1996-02-26 1997-01-06 Method and device for automatically placing tunnel lining segments Withdrawn EP0791725A1 (en)

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FR9602361 1996-02-26
FR9602361A FR2745327B1 (en) 1996-02-26 1996-02-26 METHOD AND DEVICE FOR AUTOMATICALLY LAYING CUSHIONS WITHIN A TUNNEL

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CN101846639A (en) * 2010-05-19 2010-09-29 云南三星机械设备仪器制造有限公司 Movable tunnel detection arm
CN103941308A (en) * 2014-04-08 2014-07-23 甘肃省交通科学研究院有限公司 Auxiliary inspection car device for secondary lining quality
CN103941308B (en) * 2014-04-08 2017-02-15 甘肃省交通科学研究院有限公司 Auxiliary inspection car device for secondary lining quality
CN109891052A (en) * 2016-10-04 2019-06-14 布伊古公共工程公司 For automatic Picking and section of jurisdiction is laid with to form the device and method of tunnel-liner
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US10472962B2 (en) * 2016-10-04 2019-11-12 Bouygues Travaux Publics Device and method for the automated picking up and laying of a segment to form a lining of a tunnel
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CN113047847A (en) * 2021-04-07 2021-06-29 中国建筑第五工程局有限公司 Construction method of underground excavation tunnel in high water level under-consolidated backfill soil area
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FR2745327A1 (en) 1997-08-29

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