EP0791725A1 - Verfahren und Vorrichtung zum automatischem Einbringen von Tunnelausbau-Segmenten - Google Patents

Verfahren und Vorrichtung zum automatischem Einbringen von Tunnelausbau-Segmenten 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
Authority
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Withdrawn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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English (en)
French (fr)
Inventor
Jean-Pierre Bibes
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
NFM Technologies SAS
Original Assignee
Neyrpic Framatome Mecanique
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Neyrpic Framatome Mecanique filed Critical Neyrpic Framatome Mecanique
Publication of EP0791725A1 publication Critical patent/EP0791725A1/de
Withdrawn legal-status Critical Current

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK 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 OR ROCK 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 OR ROCK 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 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
    • E21D9/003—Arrangement of measuring or indicating devices for use during driving of tunnels, e.g. for guiding machines
    • 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
    • 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.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Geology (AREA)
  • Architecture (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Environmental & Geological Engineering (AREA)
  • Excavating Of Shafts Or Tunnels (AREA)
  • Lining And Supports For Tunnels (AREA)
EP97400019A 1996-02-26 1997-01-06 Verfahren und Vorrichtung zum automatischem Einbringen von Tunnelausbau-Segmenten Withdrawn EP0791725A1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR9602361A FR2745327B1 (fr) 1996-02-26 1996-02-26 Procede et dispositif de pose automatique de voussoirs a l'interieur d'un tunnel
FR9602361 1996-02-26

Publications (1)

Publication Number Publication Date
EP0791725A1 true EP0791725A1 (de) 1997-08-27

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EP97400019A Withdrawn EP0791725A1 (de) 1996-02-26 1997-01-06 Verfahren und Vorrichtung zum automatischem Einbringen von Tunnelausbau-Segmenten

Country Status (2)

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EP (1) EP0791725A1 (de)
FR (1) FR2745327B1 (de)

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1911929A1 (de) * 2006-10-11 2008-04-16 Helge Grafinger Verfahren zur Bestimmung der Veränderung der Lage von Tübbingringen
CN101846639A (zh) * 2010-05-19 2010-09-29 云南三星机械设备仪器制造有限公司 一种可移动式隧道检测臂
CN103941308A (zh) * 2014-04-08 2014-07-23 甘肃省交通科学研究院有限公司 一种二次衬砌质量辅助检测车装置
FR3057014A1 (fr) * 2016-10-04 2018-04-06 Bouygues Travaux Publics Dispositif et procede de prise et de pose automatisee d'un voussoir pour former un revetement d'un tunnel
CN108643232A (zh) * 2018-07-23 2018-10-12 康富 一种机械式地下管廊管片定位装置
CN109555543A (zh) * 2019-02-01 2019-04-02 中国铁建重工集团有限公司 一种管片自动输送及识别***
CN109944604A (zh) * 2019-03-28 2019-06-28 中铁二院工程集团有限责任公司 一种管片承插式连接构造
CN113047847A (zh) * 2021-04-07 2021-06-29 中国建筑第五工程局有限公司 一种高水位欠固结回填土区暗挖隧道施工方法
CN113738397A (zh) * 2021-10-18 2021-12-03 重庆交通大学 一种装配式类矩形盾构隧道管片拼装结构
CN114136765A (zh) * 2021-12-06 2022-03-04 广东粤海珠三角供水有限公司 一种海底隧道管片受力变形及渗漏试验装置
DE102022129860B3 (de) 2022-11-11 2024-02-15 Herrenknecht Aktiengesellschaft Tunnelbohrmaschine und Verfahren zum Verbauen von Tübbingen

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102645438B (zh) * 2012-05-14 2014-01-15 云南三星机械设备制造股份有限公司 一种移动式隧道自动水平定位检测臂
DE202020005494U1 (de) 2019-12-31 2021-07-19 Herrenknecht Ag Vorrichtung zur automatisierten Anordnung von Tunnelausbausegmenten
EP3873704B1 (de) 2019-12-31 2022-04-13 Herrenknecht AG Verfahren und vorrichtung zur automatisierten anordnung von tunnelausbausegmenten
FR3120385B1 (fr) 2021-03-04 2023-12-22 Vinci Construction Dispositif d'aide à la pose de voussoirs
FR3123680A1 (fr) 2021-06-08 2022-12-09 Vinci Construction Grands Projets Procédé de saisie automatique d’un voussoir de revêtement d'un tunnel

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2227395A1 (de) * 1973-04-30 1974-11-22 Mcalpine & Sons Ltd Sir Robert
EP0464363A2 (de) * 1990-06-02 1992-01-08 Dyckerhoff & Widmann Aktiengesellschaft Verfahren und Einrichtung zum Steuern eines Vortriebsschildes
DE4237689A1 (de) * 1992-11-07 1994-05-11 Dyckerhoff & Widmann Ag Verfahren zum Ermitteln des Abstandes zwischen der Innenfläche eines Vortriebsschildes und der Außenfläche einer Tübbingauskleidung

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2227395A1 (de) * 1973-04-30 1974-11-22 Mcalpine & Sons Ltd Sir Robert
EP0464363A2 (de) * 1990-06-02 1992-01-08 Dyckerhoff & Widmann Aktiengesellschaft Verfahren und Einrichtung zum Steuern eines Vortriebsschildes
DE4237689A1 (de) * 1992-11-07 1994-05-11 Dyckerhoff & Widmann Ag Verfahren zum Ermitteln des Abstandes zwischen der Innenfläche eines Vortriebsschildes und der Außenfläche einer Tübbingauskleidung

Cited By (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1911929A1 (de) * 2006-10-11 2008-04-16 Helge Grafinger Verfahren zur Bestimmung der Veränderung der Lage von Tübbingringen
CN101846639A (zh) * 2010-05-19 2010-09-29 云南三星机械设备仪器制造有限公司 一种可移动式隧道检测臂
CN103941308A (zh) * 2014-04-08 2014-07-23 甘肃省交通科学研究院有限公司 一种二次衬砌质量辅助检测车装置
CN103941308B (zh) * 2014-04-08 2017-02-15 甘肃省交通科学研究院有限公司 一种二次衬砌质量辅助检测车装置
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
CN109891052A (zh) * 2016-10-04 2019-06-14 布伊古公共工程公司 用于自动拾取和铺设管片以形成隧道衬砌的设备和方法
FR3057014A1 (fr) * 2016-10-04 2018-04-06 Bouygues Travaux Publics Dispositif et procede de prise et de pose automatisee d'un voussoir pour former un revetement d'un tunnel
WO2018065726A1 (fr) * 2016-10-04 2018-04-12 Bouygues Travaux Publics Dispositif et procédé de prise et de pose automatisée d'un voussoir pour former un revêtement d'un tunnel
AU2017339155B2 (en) * 2016-10-04 2022-08-25 Bouygues Travaux Publics Device and method for the automated picking up and laying of a segment to form a lining of a tunnel
CN108643232A (zh) * 2018-07-23 2018-10-12 康富 一种机械式地下管廊管片定位装置
CN109555543B (zh) * 2019-02-01 2024-03-29 中国铁建重工集团股份有限公司 一种管片自动输送及识别***
CN109555543A (zh) * 2019-02-01 2019-04-02 中国铁建重工集团有限公司 一种管片自动输送及识别***
CN109944604A (zh) * 2019-03-28 2019-06-28 中铁二院工程集团有限责任公司 一种管片承插式连接构造
CN109944604B (zh) * 2019-03-28 2024-05-28 中铁二院工程集团有限责任公司 一种管片承插式连接构造
CN113047847A (zh) * 2021-04-07 2021-06-29 中国建筑第五工程局有限公司 一种高水位欠固结回填土区暗挖隧道施工方法
CN113738397A (zh) * 2021-10-18 2021-12-03 重庆交通大学 一种装配式类矩形盾构隧道管片拼装结构
CN113738397B (zh) * 2021-10-18 2023-10-27 重庆交通大学 一种装配式类矩形盾构隧道管片拼装结构
CN114136765A (zh) * 2021-12-06 2022-03-04 广东粤海珠三角供水有限公司 一种海底隧道管片受力变形及渗漏试验装置
CN114136765B (zh) * 2021-12-06 2023-12-19 广东粤海珠三角供水有限公司 一种海底隧道管片受力变形及渗漏试验装置
DE102022129860B3 (de) 2022-11-11 2024-02-15 Herrenknecht Aktiengesellschaft Tunnelbohrmaschine und Verfahren zum Verbauen von Tübbingen
WO2024099748A1 (de) 2022-11-11 2024-05-16 Herrenknecht Aktiengesellschaft Tunnelbohrmaschine und verfahren zum verbauen von tübbingen

Also Published As

Publication number Publication date
FR2745327B1 (fr) 1998-06-12
FR2745327A1 (fr) 1997-08-29

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