CN113653504B - Intermediate wall for use in tunnel, installation apparatus and installation method thereof - Google Patents
Intermediate wall for use in tunnel, installation apparatus and installation method thereof Download PDFInfo
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- CN113653504B CN113653504B CN202110948577.5A CN202110948577A CN113653504B CN 113653504 B CN113653504 B CN 113653504B CN 202110948577 A CN202110948577 A CN 202110948577A CN 113653504 B CN113653504 B CN 113653504B
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- 238000009434 installation Methods 0.000 title claims abstract description 72
- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000005192 partition Methods 0.000 claims abstract description 36
- 239000000758 substrate Substances 0.000 claims abstract description 21
- 230000007246 mechanism Effects 0.000 claims description 68
- 238000010276 construction Methods 0.000 claims description 22
- 230000032258 transport Effects 0.000 claims description 15
- 229910000831 Steel Inorganic materials 0.000 claims description 7
- 239000010959 steel Substances 0.000 claims description 7
- 230000000007 visual effect Effects 0.000 claims description 6
- 230000008602 contraction Effects 0.000 claims description 5
- 238000001514 detection method Methods 0.000 claims description 4
- 230000005484 gravity Effects 0.000 claims description 3
- 230000007723 transport mechanism Effects 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 2
- 238000003780 insertion Methods 0.000 claims description 2
- 230000037431 insertion Effects 0.000 claims description 2
- 230000036544 posture Effects 0.000 description 8
- 230000008569 process Effects 0.000 description 5
- 230000004927 fusion Effects 0.000 description 3
- 238000003860 storage Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000011065 in-situ storage Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
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Classifications
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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
- E21D9/14—Layout of tunnels or galleries; Constructional features of tunnels or galleries, not otherwise provided for, e.g. portals, day-light attenuation at tunnel openings
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
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- Lining And Supports For Tunnels (AREA)
Abstract
The invention discloses an intermediate wall used in a tunnel, and an installation device and an installation method thereof, comprising a plurality of prefabricated intermediate walls which are spliced in turn to form a wall body; the prefabricated intermediate wall comprises a bearing substrate and a prefabricated wall body; the prefabricated middle partition wall is of an integrated structure, and the prefabricated wall body is vertically fixed on the substrate; the splicing side of the prefabricated wall body is provided with a corresponding groove matching structure for realizing tight occlusion connection between adjacent prefabricated intermediate walls; in the intermediate wall provided by the invention, the corresponding groove matching structure and the corresponding installation grabbing holes are arranged on the splicing side of the prefabricated wall body, so that the installation period of the intermediate wall is shortened, the cost investment is reduced, and the integrity of the integral structure of the intermediate wall is improved.
Description
Technical Field
The invention relates to the technical field of shield tunnel construction, in particular to an intermediate wall used in a tunnel, and an installation device and an installation method thereof.
Background
The intermediate wall is widely applied to subway tunnel construction, and can separate workpieces in the tunnel. The existing intermediate wall mainly comprises a T-shaped substrate and a prefabricated wall body; the T-shaped substrate is cast on the ground in the tunnel in an in-situ casting mode, and then the prefabricated wall body is installed on the T-shaped substrate through a transport tool.
At present, in order to install the intermediate wall with the structure into a tunnel, pouring construction of a T-shaped substrate is generally carried out in the tunnel, and then a prefabricated wall body prefabricated in advance is transported to an installation site through a flat-plate transport vehicle; then grabbing the prefabricated wall body by using an assembling manipulator, and adjusting the prefabricated wall body to a proper installation angle; further supporting and fixing the top of the prefabricated wall body by using a temporary supporting rod; and finally, pouring and combining the prefabricated wall body and the T-shaped substrate into a whole in a pouring mode.
The related intermediate wall and the installation method of the intermediate wall have many disadvantages although they are widely used. For example: because the tunnel space is narrow, the construction period is easily prolonged by adopting a mode of combining the T-shaped substrate and the prefabricated wall body; more support structures are needed to be adopted between the prefabricated wall body and the T-shaped substrate so as to avoid deflection of the prefabricated wall body relative to the T-shaped substrate; in the process of installing the intermediate wall, a T-shaped substrate is poured in the tunnel firstly to divide the space in the tunnel into two parts, so that the space in the tunnel for horizontal transportation is reduced, the difficulty level in the subsequent installation of the prefabricated wall is increased, the construction period is influenced, and the safety risk is increased; in addition, when the prefabricated wall body is mounted on the T-shaped substrate, operations such as steel bar welding, cutting and secondary pouring are required, and the construction period and the economic benefit of the intermediate wall are also affected by the processes.
Disclosure of Invention
The invention aims to provide an intermediate wall used in a tunnel, which solves the problems that the existing intermediate wall needs to be cast in situ for many times, the construction period is long and gaps are large in the assembly process of the intermediate wall.
Another object of the present invention is to provide a mounting apparatus for mounting an intermediate wall, which solves the problems of complicated structure and inconvenient operation of the existing mounting apparatus.
The invention further aims to provide an installation method for the intermediate wall, which aims to solve the problems of long construction period and complicated operation steps of the existing installation method.
In order to solve the technical problems, the invention adopts the following technical scheme:
An intermediate wall used in a tunnel is designed, which comprises a plurality of prefabricated intermediate walls which are spliced in sequence to form a wall body; the prefabricated intermediate wall comprises a bearing substrate and a prefabricated wall body; the prefabricated middle partition wall is of an integrated structure, and the prefabricated wall body is vertically fixed on the substrate; the prefabricated wall body concatenation side is provided with corresponding recess cooperation structure for realize closely interlock connection between the adjacent prefabricated intermediate wall.
Preferably, the center of gravity of the prefabricated wall body is provided with a mounting grabbing hole.
The installation equipment for installing the intermediate wall comprises a bracket, a grabbing mechanism and a conveying mechanism; the support bottom is equipped with the pulley, through the drive the pulley is walked on the track and is realized moving the complete machine to the mid-partition wall construction mounted position, the support is installed lift cylinder, transport mechanism including be fixed in slide rail mechanism on the support lift cylinder lever, and the slip join in marriage in slide rail mechanism's longitudinal movement mechanism, longitudinal movement mechanism longitudinal one side is connected with longitudinal adjustment hydro-cylinder, longitudinal adjustment hydro-cylinder's cylinder body is installed on slide rail mechanism one side's the mount, longitudinal movement mechanism mid-mounting has transverse adjustment hydro-cylinder, transverse adjustment hydro-cylinder's cylinder body sets up on the longitudinal movement mechanism, be fixed with on transverse adjustment hydro-cylinder's the lever snatch the mechanism, snatch the mechanism including fix mount pad on the transverse adjustment hydro-cylinder lever and with the mid-partition wall fixing base that the mount pad is connected.
Preferably, a connecting hinged support is arranged in the middle of one side of the mounting support, a fine tuning hinged support is further arranged on the mounting support on two sides of the connecting hinged support, and a fine tuning oil cylinder is fixed on the fine tuning hinged support.
Preferably, the connection hinged support is hinged with a rotary hydraulic device mounting seat, and the rotary hydraulic device is connected with the middle partition wall fixing seat and then mounted on the hydraulic device mounting seat.
Preferably, the hydraulic rotating device comprises a driving shaft connected with the middle partition wall fixing seat, a longitudinal fine adjustment oil cylinder fixed on the driving shaft and vertically connected with the middle partition wall fixing seat, and a rotating oil cylinder hinged with the driving shaft through a connecting component.
Preferably, the middle partition fixing seat is provided with a pin matched with the middle partition installation grabbing hole.
An intermediate wall installation method, which is implemented based on the above-mentioned intermediate wall and intermediate wall installation apparatus, includes the steps of:
s1, a transport vehicle transports a prefabricated intermediate wall to a construction installation designated position;
S2, the installation equipment for installing the intermediate wall drives the pulley at the bottom of the bracket through the driving device, the whole machine is moved to an installation designated position of the prefabricated intermediate wall, and the position relationship between the grabbing mechanism and the intermediate wall to be installed is measured;
S3, adjusting a longitudinal adjusting oil cylinder, a transverse adjusting oil cylinder and a lifting oil cylinder on a bracket on the longitudinal moving mechanism, so that the center of the grabbing mechanism is overlapped with an installation grabbing hole arranged on the middle partition wall, operating the transverse adjusting oil cylinder on the longitudinal moving mechanism, overlapping a steel pin on a prefabricated middle partition wall fixing seat on the grabbing mechanism with the installation grabbing hole on the prefabricated middle partition wall, and fixing after inserting;
s4, starting the bracket lifting oil cylinder, lifting the prefabricated intermediate wall to be separated from a transport vehicle, and driving the transport vehicle away from a construction installation position;
S5, continuously lifting the prefabricated intermediate wall to the central position of the upper space and the lower space of the tunnel through the lifting oil cylinder of the bracket;
S6, operating the transverse adjusting oil cylinder to move the prefabricated intermediate wall to the position of the central line of the tunnel;
s7, operating the hydraulic slewing device of the grabbing mechanism to enable the rotary oil cylinder to drive the driving shaft to rotate, so that the middle partition wall mounting seat drives the middle partition wall to be mounted to rotate 90 degrees, and the mounting state is achieved;
S8, the mounting equipment walks to the position to be assembled through a stepping motor, and fine adjustment is carried out on the transverse and longitudinal angles of the assembling postures of the middle partition wall respectively; adjusting the angle in the longitudinal plane of the intermediate wall to be consistent with the installed intermediate wall through the expansion and contraction of a longitudinal fine adjustment oil cylinder in the hydraulic rotary device; the hydraulic slewing device mounting seat swings in a transverse plane by taking a hinge point between the hydraulic slewing device mounting seat and the grabbing mechanism mounting seat as a center through the expansion and contraction of a fine adjustment oil cylinder hinged to the fine adjustment hinge seat, so that the angle adjustment in the transverse plane of the intermediate wall fixedly connected with the hydraulic slewing device is realized, then the intermediate wall to be mounted is attached to the mounted intermediate wall through a longitudinal moving oil cylinder, and the bottom surface of the intermediate wall is lowered to a mounting surface through a lifting oil cylinder and then fixed;
s9, connecting the bolts between the bottom of the wall and the wall, and taking out the grabbing mechanism after the bolts are stabilized to finish a group of installation.
Compared with the prior art, the invention has the main beneficial technical effects that:
1. The invention shortens the construction period by utilizing the integrated intermediate wall structure, reduces the cost investment, ensures that the intermediate walls are more tightly attached in the two-by-two splicing process by the design of the splicing groove, and increases the structural integrity of the integral intermediate wall of the tunnel.
2. The installation equipment provided by the invention can be better applied to the installation work of the intermediate wall, and can be used for rapidly installing the intermediate wall in a narrow tunnel environment, thereby being beneficial to reducing the labor intensity of workers and further shortening the construction period.
3. The installation method provided by the invention fully utilizes the characteristics of the installation equipment and the intermediate wall, greatly improves the installation speed of the intermediate wall, and simultaneously improves the installation accuracy and the overall strength of the intermediate wall.
Drawings
Fig. 1 is a schematic view showing a front view of a prefabricated intermediate wall.
Fig. 2 is a schematic top view of a prefabricated intermediate wall.
Fig. 3 is a schematic view showing the construction of the working state of the intermediate wall mounting apparatus.
Fig. 4 is a plan view of the intermediate wall mounting apparatus.
Fig. 5 is a flow chart of intelligent control visual servo control.
Fig. 6 is a flow chart of the intelligent control construction.
In the above figures, 1 is a prefabricated intermediate wall, 11 is a receiving substrate, 12 is a prefabricated wall, 121 is a splicing groove, 2 is a mounting grabbing hole, 3 is a bracket, 31 is a pulley, 4 is a grabbing mechanism, 41 is a mounting seat, 5 is a conveying mechanism, 51 is a sliding rail mechanism, 52 is a longitudinal moving mechanism, 6 is a lifting oil cylinder, 7 is a longitudinal adjusting oil cylinder, 8 is a fixing frame, 9 is a transverse adjusting oil cylinder, 10 is a connecting hinged seat, 11 is a fine adjusting hinged seat, 12 is a fine adjusting oil cylinder, 13 is a rotary hydraulic device mounting seat, 14 is a rotary hydraulic device, and 15 is a prefabricated intermediate wall fixing seat.
Detailed Description
The following examples are given to illustrate the invention in detail, but are not intended to limit the scope of the invention in any way.
In the description of the present invention, it should be understood that the directions or positional relationships as referred to by the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of description and simplification of the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Example 1: an intermediate wall for use in a tunnel, see fig. 1 to 2, comprises a plurality of prefabricated intermediate walls 1 arranged in sequence to form a wall body; the prefabricated intermediate wall 1 comprises a bearing substrate 11 and a prefabricated wall body 12, the prefabricated intermediate wall 1 is of an integrated structure, and the prefabricated wall body 12 is vertically fixed on the substrate 11; the bearing substrate 11 is bolted with a bottom arc-shaped piece by adopting 20 sets of M36 screw rods, an M36 threaded sleeve is pre-embedded in the bottom arc-shaped piece, the substrate is also provided with a diameter 66 bolt through hole and a diameter 126 counter bore, and the single side of the adjusting amount of the connecting bolt is 15mm; the prefabricated wall body 12 is provided with installation grabbing holes 2 near the center of gravity, the installation grabbing holes 2 are distributed in an isosceles triangle shape, the diameter is 70mm, and the prefabricated wall body 12 is assembled and attached to the side and is further provided with concave splicing grooves 2 for realizing tight occlusion connection between adjacent prefabricated intermediate walls 1.
Example 2: an installation apparatus for installing an intermediate wall, see fig. 3 to 4, includes a bracket 3, a grasping mechanism 4, and a transport mechanism 5; the support 3 is placed on a track through a pulley 31 arranged at the bottom of the support 3, and is used for driving the pulley 31 to move the whole machine to a prefabricated intermediate wall construction installation position through a rail-mounted motor reducer, and a conveying mechanism 5 is fixed on the upper portion of the support 3 through a lifting oil cylinder 6.
The transporting mechanism 5 comprises a sliding rail mechanism 51 fixed on the rod 6 of the lifting cylinder of the bracket 3 and a longitudinal moving mechanism 52 slidingly matched with the sliding rail mechanism 51, the sliding rail mechanism 51 is fixed on the rod of the lifting cylinder 6 of the bracket and is used for realizing the adjustment of the high and low positions of the transporting mechanism 5 through the lifting cylinder 6 of the bracket, one side of the longitudinal moving mechanism 52 is connected with the rod of the longitudinal adjusting cylinder 7, the cylinder body of the longitudinal adjusting cylinder 7 is placed on the fixing frame 8 at one side of the sliding rail mechanism 51, the middle part of the longitudinal moving mechanism 52 is provided with a transverse adjusting cylinder 9, the cylinder body of the transverse adjusting cylinder 9 is placed on the longitudinal moving mechanism 52, and the rod of the transverse adjusting cylinder 9 is fixedly provided with a grabbing mechanism 4; one side of the grabbing mechanism mounting seat 41 is fixed on a cylinder rod of the transverse adjusting cylinder 9, the middle part of the other side is provided with a connecting hinged seat 10, the mounting seats 41 on two sides of the connecting hinged seat 10 are respectively hinged and fixed with a fine adjusting cylinder 12 through fine adjusting hinged seats 11, the connecting hinged seat 10 is hinged and fixed with a rotary hydraulic device mounting seat 13, the rotary hydraulic device 14 is fixed on the rotary hydraulic device mounting seat 13, and the hydraulic rotary device 4 comprises a driving shaft connected with the middle partition fixing seat 15, a longitudinal fine adjusting cylinder fixed on the driving shaft and vertically connected with the middle partition fixing seat 15 and a rotary cylinder hinged with the driving shaft through a connecting component; the rotary hydraulic device 14 is provided with a prefabricated intermediate wall fixing seat 15, the prefabricated intermediate wall fixing seat 15 is provided with a steel pin matched with the installation grabbing hole 2, when the prefabricated intermediate wall is grabbed, the steel pin coincides with the installation grabbing hole 2, the prefabricated intermediate wall 1 is tightly attached to the prefabricated intermediate wall fixing seat 15 after being inserted by the steel pin, the prefabricated intermediate wall 1 is driven to rotate to a vertical installation state by the rotary hydraulic device 14, and the other end of the fine adjustment oil cylinder 12 is hinged and fixed with fine adjustment hinged supports 11 on two sides of the rotary hydraulic device installation seat 13, so that fine adjustment in a transverse section of the prefabricated intermediate wall 1 is realized through fine adjustment oil cylinders 12 on two sides.
Example 3: an intermediate wall mounting method, which is implemented based on the intermediate wall and the intermediate wall mounting apparatus in the above-described embodiment 1 and embodiment 2, includes the steps of:
S1, a transport vehicle transports the prefabricated intermediate wall 1 to a construction installation designated position.
S2, the installation equipment for installing the intermediate wall drives the pulley 31 at the bottom of the bracket through the driving device, moves the whole machine to the construction installation designated position of the prefabricated intermediate wall 1, and measures the distance between the grabbing mechanism 4 and the intermediate wall 1 to be installed.
S3, adjusting the longitudinal adjusting oil cylinder 7, the transverse adjusting oil cylinder 9 and the lifting oil cylinder 6 on the bracket 3 on the longitudinal moving mechanism 52, enabling the center of the grabbing mechanism 4 to coincide with the installation grabbing hole 2 arranged on the middle wall 1, operating the transverse adjusting oil cylinder 9 on the longitudinal moving mechanism, enabling the steel pin on the prefabricated middle wall fixing seat on the grabbing mechanism to coincide with the installation grabbing hole on the prefabricated middle wall, and fixing after insertion.
S4, starting the bracket lifting oil cylinder 6, lifting the prefabricated intermediate wall 1 to be separated from a transport vehicle, and driving the transport vehicle away from a construction installation position.
And S5, continuously lifting the prefabricated intermediate wall 1 to the central position of the upper and lower spaces of the tunnel by lifting the bracket lifting oil cylinder 6.
And S6, operating the transverse adjusting oil cylinder 9 to move the prefabricated intermediate wall 1 to the position of the central line of the tunnel.
And S7, operating the hydraulic turning device 14 of the grabbing mechanism 4, so that the rotary oil cylinder drives the driving shaft to rotate, and the middle wall fixing seat 15 drives the middle wall 1 to be installed to rotate 90 degrees, so that the installation state is achieved.
S8, the mounting equipment walks to the position to be assembled through a stepping motor, and fine adjustment is carried out on the transverse and longitudinal angles of the assembling posture of the intermediate wall 1 respectively; adjusting the angle in the longitudinal plane of the intermediate wall 1 to be consistent with the installed intermediate wall by the extension and contraction of a longitudinal fine adjustment cylinder in the hydraulic rotary device 14; the hydraulic slewing device mounting seat 13 swings in a transverse plane by taking a hinge point between the hydraulic slewing device mounting seat and the grabbing mechanism mounting seat 41 as a center through the extension and retraction of the fine adjustment oil cylinder 12 hinged on the fine adjustment hinge seat 11, so that the angle adjustment in the transverse plane of the intermediate wall fixedly connected with the hydraulic slewing device is realized, then the intermediate wall 1 to be mounted is attached to the mounted intermediate wall through the longitudinal movement oil cylinder 7, and the bottom surface of the intermediate wall is lowered to the mounting surface through the lifting oil cylinder 6 and then fixed.
S9, connecting the bolts between the bottom of the wall and the wall, and taking out the grabbing mechanism after the bolts are stabilized to finish a group of installation.
Example 4: based on the above installation device and installation method of the intermediate wall, an intelligent control method is provided, see fig. 5 to 6, and the main implementation principle of the intelligent control is as follows: the multi-sensing information fusion positioning system comprises the following components: establishing a coordinate system of the mounting machine, carrying out coordinate transformation by taking a mechanical arm visual positioning system as a core, combining visual servo closed-loop control and assisting laser ranging redundant information, and realizing real-time positioning of the middle partition wall in the mounting process by strong visual feature selection so as to carry out accurate position and posture adjustment.
Automatic detection and perception: the intelligent installation of the intermediate wall is based on multi-sensing information fusion data, a mechanical arm vision positioning system arranged by a mounting machine is utilized, detection elements such as a strong robust vision feature, a high-precision displacement sensor, a laser range finder, an optical sensor and the like are combined, actual related data are measured and detected, and the hydraulic cylinder is finally controlled to be executed through software operation and analysis.
Automatic operation and analysis processing: external information is acquired through the multi-sensing information fusion positioning system, the high-performance industrial personal computer calculates and judges whether sensing meets working conditions in real time, the acquired pose error is led into the PLC to calculate the current control quantity in combination with the coordinate system analysis information of the mounting machine, and therefore the current driving quantity of the execution elements such as the hydraulic cylinder is executed, and the required working condition is achieved.
Automatic decision and action execution: according to the coordinate system operation of the mounting machine and the PLC calculation, the hydraulic control system adopts a load sensitive electric proportion control scheme to complete the working procedures of automatic centering and grabbing of the middle partition wall mounting machine, automatic rotation of the middle partition wall by 90 degrees, automatic running of the mounting machine to the mounting position, fine adjustment of the middle partition wall, mounting of the middle partition wall and the like until the mounting is finished.
Man-machine interaction and information storage: according to the collected information, the operation information and the execution information storage record, the whole system is divided into three parts for human-computer interaction and information storage: a grabbing mechanism, an installation middle partition wall and a hydraulic system. Relevant working information and parameters are displayed through a man-machine exchange interface, so that the information and the parameters are convenient to review and analyze.
The intelligent control system is divided into: the four parts of adjusting the parallel posture of the intermediate wall, grabbing and overturning the intermediate wall, finely adjusting the posture of the intermediate wall, assembling and resetting the mounting machine are sequentially carried out.
Adjusting the parallel posture of the intermediate wall: the automobile carrying is carried and is waited to install the intermediate wall to appointed station, and intermediate wall erection equipment walks to zero station operating condition to carry out wireless communication with the intermediate wall, snatch four laser rangefinder of round pin axle installation through erection equipment, adjust the automobile and carry platform device, make intermediate wall and snatch mechanism relative parallel and sideslip. The grabbing mechanism and the five central hole centers of the pin shaft and the middle partition wall are completed through a visual recognition camera and a laser ranging sensor.
Grabbing and overturning the intermediate wall: the positioning laser ranging sensor is utilized to finish the penetration of the grabbing pin shaft into the middle partition wall and locking; according to a set program, lifting the intermediate wall and then driving away the transport vehicle; the transverse oil cylinder retracts, and the middle partition wall transversely moves to the central line position of the tunnel; lifting the main frame lifting oil cylinder, and lifting the intermediate wall to the turnover horizontal center position; and (5) analyzing and calculating the extension required by the overturning oil cylinder, and rotating the intermediate wall by 90 degrees to reach a vertical state.
Fine adjustment and assembly of the posture of the intermediate wall: stopping walking when the detection distance is 200mm after the middle wall is installed by using laser range finders of two sets of 6-degree-of-freedom mechanical arms of the installation machine, and reaching a fine adjustment position; the structure light is projected on the reference intermediate wall and the intermediate wall to be installed and recognized through the two sets of mechanical arm system active vision cameras, the relative pose information between the intermediate walls is calculated, and the pose positions of the intermediate walls are adjusted through closed-loop control, so that fine adjustment and assembly are completed.
And (3) resetting and posture adjustment of the installation equipment: after the intermediate wall is assembled, the bottom is temporarily fixed by a proper metal gasket, a bottom bolt and a wall bolt are fastened, an operator presses a reset button, a grabbing pin shaft is separated from the intermediate wall, and the installation equipment automatically moves to a zero working position to wait for the next working procedure.
While the invention has been described in detail with reference to the drawings and embodiments, those skilled in the art will understand that various specific parameters may be changed in the above embodiments or equivalents may be substituted for related components, structures and materials without departing from the spirit of the invention, thereby forming a plurality of specific embodiments, which are common variations of the invention and will not be described in detail herein.
Claims (4)
1. An intermediate wall installation method for use in a tunnel, characterized in that it is implemented based on an installation apparatus of an intermediate wall, the installation apparatus comprising a bracket, a gripping mechanism and a transport mechanism; the bottom of the bracket is provided with a pulley which is used for walking on a track so as to realize the movement of the whole machine to the construction installation position of the intermediate wall; the support is provided with a lifting oil cylinder; the conveying mechanism comprises a sliding rail mechanism arranged on a lifting oil cylinder lever of the bracket and a longitudinal moving mechanism which is slidingly matched with the sliding rail mechanism, wherein one longitudinal side of the longitudinal moving mechanism is connected with a longitudinal adjusting oil cylinder which is arranged on a fixing frame on one side of the sliding rail mechanism, the middle part of the longitudinal moving mechanism is provided with a transverse adjusting oil cylinder, the cylinder body of the transverse adjusting oil cylinder is arranged on the longitudinal moving mechanism, and the lever of the transverse adjusting oil cylinder is provided with a grabbing mechanism; the grabbing mechanism comprises a mounting seat fixed on the lever of the transverse adjusting oil cylinder and an intermediate wall fixing seat connected with the mounting seat;
the middle part of one side of the mounting seat is provided with a connecting hinged seat, the mounting seats on two sides of the connecting hinged seat are also provided with fine-tuning hinged seats, and fine-tuning oil cylinders are fixed on the fine-tuning hinged seats;
The rotary hydraulic device is connected with the middle partition wall fixing seat and then is arranged on the hydraulic device mounting seat;
The hydraulic slewing device comprises a driving shaft connected with the middle partition wall fixing seat, a longitudinal fine adjustment oil cylinder fixed on the driving shaft and vertically connected with the middle partition wall fixing seat, and a rotary oil cylinder hinged with the driving shaft through a connecting component;
The method comprises the following steps:
s1, a transport vehicle transports a prefabricated intermediate wall to a construction installation designated position;
S2, the installation equipment for installing the intermediate wall drives the pulley at the bottom of the bracket through the driving device, the whole machine is moved to the preset installation position of the intermediate wall and is in wireless communication with the intermediate wall, and the four laser range finders installed through the pin shafts are grabbed by the installation equipment, so that the automobile carrying platform device is adjusted, and the intermediate wall and the grabbing mechanism are relatively parallel and transversely moved;
S3, centering the grabbing mechanism and the five central hole sites of the pin shaft and the middle partition wall through a visual recognition camera and a laser ranging sensor, adjusting a longitudinal adjusting oil cylinder, a transverse adjusting oil cylinder and a lifting oil cylinder on a bracket on the longitudinal moving mechanism, enabling the center of the grabbing mechanism to coincide with an installation grabbing hole arranged on the middle partition wall, positioning through the positioning laser ranging sensor, operating the transverse adjusting oil cylinder on the longitudinal moving mechanism, enabling a steel pin on a prefabricated middle partition wall fixing seat on the grabbing mechanism to coincide with the installation grabbing hole on the prefabricated middle partition wall, and fixing after insertion;
s4, starting the bracket lifting oil cylinder, lifting the prefabricated intermediate wall to be separated from a transport vehicle, and driving the transport vehicle away from a construction installation position;
S5, continuously lifting the prefabricated intermediate wall to the central position of the upper space and the lower space of the tunnel through the lifting oil cylinder of the bracket;
S6, operating the transverse adjusting oil cylinder to move the prefabricated intermediate wall to the position of the central line of the tunnel;
s7, analyzing and calculating the required elongation of the overturning oil cylinder, and operating the hydraulic slewing device of the grabbing mechanism to enable the rotating oil cylinder to drive the driving shaft to rotate, so that the middle partition wall mounting seat drives the middle partition wall to be mounted to rotate by 90 degrees, and the mounting state is achieved;
S8, stopping walking when the detection distance is 200mm after the middle wall is installed by using the laser range finders of two sets of 6-degree-of-freedom mechanical arms of the mounting machine, reaching a fine adjustment position, projecting structural light on a reference middle wall and the middle wall to be mounted and identifying by using the two sets of mechanical arm systems, calculating relative pose information between the middle walls, and adjusting each pose position of the middle wall by closed loop control to finish fine adjustment and assembly; adjusting the angle in the longitudinal plane of the intermediate wall to be consistent with the installed intermediate wall through the expansion and contraction of a longitudinal fine adjustment oil cylinder in the hydraulic rotary device; the hydraulic slewing device mounting seat swings in a transverse plane by taking a hinge point between the hydraulic slewing device mounting seat and the grabbing mechanism mounting seat as a center through the expansion and contraction of a fine adjustment oil cylinder hinged to the fine adjustment hinge seat, so that the angle adjustment in the transverse plane of the intermediate wall fixedly connected with the hydraulic slewing device is realized, then the intermediate wall to be mounted is attached to the mounted intermediate wall through a longitudinal moving oil cylinder, and the bottom surface of the intermediate wall is lowered to a mounting surface through a lifting oil cylinder and then fixed;
S9, connecting the bolts between the bottom of the wall and the wall, pressing a reset button by an operator after the bolts are stabilized, taking out the grabbing mechanism to finish a group of installation, automatically moving the installation equipment to a zero working position, and waiting for the next working procedure.
2. The method for installing an intermediate wall in a tunnel according to claim 1, wherein the intermediate wall comprises a plurality of prefabricated intermediate walls which are sequentially spliced to form a wall body; the prefabricated intermediate wall comprises a bearing substrate and a prefabricated wall body; the prefabricated middle partition wall is of an integrated structure, and the prefabricated wall body is vertically fixed on the substrate; the prefabricated wall body concatenation side is provided with corresponding recess cooperation structure for realize closely interlock connection between the adjacent prefabricated intermediate wall.
3. The method for installing an intermediate wall in a tunnel according to claim 2, wherein an installation grasping hole is provided at the center of gravity of the prefabricated wall body.
4. A method for installing an intermediate wall in a tunnel according to claim 3, wherein the intermediate wall fixing base is provided with pins fitted with the intermediate wall installation grasping holes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110948577.5A CN113653504B (en) | 2021-08-18 | 2021-08-18 | Intermediate wall for use in tunnel, installation apparatus and installation method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110948577.5A CN113653504B (en) | 2021-08-18 | 2021-08-18 | Intermediate wall for use in tunnel, installation apparatus and installation method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113653504A CN113653504A (en) | 2021-11-16 |
| CN113653504B true CN113653504B (en) | 2024-05-14 |
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| CN202110948577.5A Active CN113653504B (en) | 2021-08-18 | 2021-08-18 | Intermediate wall for use in tunnel, installation apparatus and installation method thereof |
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| CN114842079B (en) * | 2022-04-23 | 2023-09-19 | 四川大学 | Equipment and method for measuring pose of prefabricated intermediate wall in shield tunnel |
| CN114810137B (en) * | 2022-05-08 | 2023-06-13 | 四川大学 | Shield tunnel mid-partition wall positioning and grabbing system and method based on multi-sensor information fusion |
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