CN114704286A

CN114704286A - Shield tunnel prefabricated intermediate wall mounting machine and method for automatically positioning and controlling spatial attitude of intermediate wall

Info

Publication number: CN114704286A
Application number: CN202210412823.XA
Authority: CN
Inventors: 林春刚; 赵旭; 谢韬; 向国菲; 邹翀; 王百泉; 彭怀炀; 尚伟; 李荆; 胡辰翔; 王春玲; 洪侨亨; 牛富生; 段瑞扬
Original assignee: China Railway Tunnel Group Co Ltd CRTG; CRTG Survey and Design Institute Co Ltd
Current assignee: China Railway Tunnel Group Co Ltd CRTG; CRTG Survey and Design Institute Co Ltd
Priority date: 2022-04-19
Filing date: 2022-04-19
Publication date: 2022-07-05

Abstract

The invention discloses a shield tunnel prefabricated intermediate wall mounting machine and a method for automatically positioning and controlling the spatial attitude of an intermediate wall, wherein the method comprises the following steps: grab dish, actuate device, rectangle frame and intelligence control system, wherein: the grabbing disc is arranged on the side close to the midline, is a plate body and is vertically arranged, the outer side of the grabbing disc faces the midline side, and the outer side of the grabbing disc is used for bearing an intermediate wall to be installed; the actuating device is arranged on the rectangular frame and is used for: pushing the grabbing disc to move longitudinally and transversely to drive the intermediate wall to be installed to move longitudinally and transversely to the position to be installed; the device is used for pushing the grabbing disc to rotate until the rotation angle deviation of the to-be-installed intermediate wall and the installed intermediate wall in the X direction, the Y direction and the Z direction is eliminated. The invention realizes the accurate control of the whole process of the adjustment and the in-place assembly of the spatial attitude of the intermediate wall, improves the automation and the accuracy of the assembly of the intermediate wall, accelerates the assembly efficiency of the intermediate wall and reduces the construction risk.

Description

Shield tunnel prefabricated intermediate wall mounting machine and method for automatically positioning and controlling spatial attitude of intermediate wall

Technical Field

The invention belongs to the technical field of shield tunnel partition construction, and particularly relates to a shield tunnel prefabricated partition wall mounting machine and a method for automatically positioning and controlling the space attitude of a partition wall.

Background

By the end of 2020, 16798 domestic operating railway tunnels are used, and the total length is 19630 km. The railway tunnel lining structure is usually constructed by adopting a concrete cast-in-place process, and quality defects such as lining cavities, insufficient lining thickness and the like exist in partial sections, so that various diseases are easily caused under the action of train load in an operation period, and great potential safety hazards are brought to railway driving. The prefabrication of the tunnel structure can effectively solve the quality defect of a cast-in-place process, and is an important way for improving the tunnel construction speed and reducing the construction cost. The tunnel structure prefabrication and assembly technology is one of the directions of tunnel construction specialization, factory and mechanization development. In recent years, with the development of underground engineering prefabrication and assembly technology, the prefabrication and assembly of the inner structure of the large-diameter shield tunnel receives more and more attention.

In a constructed tunnel, a single-hole double-line arrangement is adopted in a tunnel section, the internal structure is a fully prefabricated structure and is divided into five parts including a lower structure (an arc-shaped part), a middle partition wall, transverse brackets, cable grooves on two sides and an evacuation platform. The arc is a bottom support member. The mid-board is installed in the central line position of arc upper surface, divides into left side line, right side line passageway with the tunnel.

Due to the fact that construction space in the tunnel is narrow, the partition wall in the prefabricated part is large in size and self-weight, requirements for assembling accuracy and working efficiency are high, and a full-automatic and informationized assembling process is needed.

Disclosure of Invention

The invention aims to provide a shield tunnel prefabricated intermediate wall mounting machine and a method for automatically positioning and controlling the spatial attitude of an intermediate wall, which are used for realizing the accurate control of the whole process of adjusting the spatial attitude and positioning and assembling the intermediate wall from a grabbing state to the attitude adjusting station of the intermediate wall to be mounted, improving the automation and accuracy level of assembling the intermediate wall, accelerating the assembling efficiency of the intermediate wall and reducing the construction risk.

The invention adopts the following technical scheme: a shield tunnel prefabricated mid-partition mounting machine is characterized in that the mid-partition mounting machine is arranged in a tunnel and is positioned on the left side or the right side of the tunnel with a center line as a dividing line; the lifting frame is a spatial rectangular frame structure and can ascend or descend in the vertical direction; the transverse direction is set to be the X direction, the longitudinal direction is the Y direction, and the vertical direction is the Z direction.

This mid-board installation machine includes: grab dish, actuate device, rectangle frame and intelligence control system, wherein:

the grabbing disc is arranged on the side close to the midline, is a plate body and is vertically arranged, the outer side of the grabbing disc faces the midline side, the outer side of the grabbing disc is used for bearing the to-be-installed intermediate wall, and the to-be-installed intermediate wall is in a longitudinal horizontal state at the beginning;

the actuating device is arranged on the rectangular frame and is used for: pushing the grabbing disc to move longitudinally and transversely to drive the intermediate wall to be installed to move longitudinally and transversely and move to the position to be installed; the grabbing disc is pushed to rotate 90 degrees in the vertical plane, and the mid-partition to be installed is rotated to the vertical state from the horizontal state; the device is used for pushing the grabbing disc to rotate until the deviation of the rotation angles of the to-be-installed intermediate wall and the installed intermediate wall in the X direction, the Y direction and the Z direction is eliminated;

the intelligent control system is used for controlling the actuating device to actuate.

Further, the actuating device comprises:

the mounting trolley longitudinal moving slide block is arranged on the longitudinal beam above the rectangular frame and can longitudinally and reciprocally slide along the rectangular frame;

the longitudinal moving oil cylinder is longitudinally arranged, one end of the longitudinal moving oil cylinder is connected with the longitudinal moving sliding block of the mounting trolley, and the other end of the longitudinal moving oil cylinder is connected with the rectangular frame; the longitudinal moving oil cylinder is used for driving the longitudinal moving sliding block of the mounting trolley to longitudinally reciprocate;

the installation trolley transversely moves the outer sliding sleeve and is a shell which is transversely arranged, and the opening end of the shell faces the centerline side of the tunnel; the installation trolley is arranged below the longitudinal moving sliding block and is connected with the longitudinal moving sliding block through a swinging hinge;

the installation trolley transverse moving inner sliding sleeve is coaxially inserted into the installation trolley transverse moving outer sliding sleeve and is connected with the installation trolley transverse moving outer sliding sleeve through a transverse moving oil cylinder, and the installation trolley transverse moving inner sliding sleeve can slide in a left-right reciprocating mode in the installation trolley transverse moving outer sliding sleeve;

the overturning main shaft is a shaft body, is coaxially arranged at the outer end part of the installation trolley transverse inner sliding sleeve close to the centerline, and can rotate in the installation trolley transverse inner sliding sleeve; the outer end of the turning main shaft is hinged with the grabbing disc;

the transverse moving oil cylinder is used for pushing the transverse moving inner sliding sleeve of the mounting trolley to slide in a transverse direction in a reciprocating mode so as to push the grabbing disc to move in a transverse direction in a reciprocating mode.

Further, the actuating device further comprises:

the overturning crank is a plate body with a large end and a small end, the small end of the overturning crank is connected with the overturning main shaft, and the large end of the overturning crank is hinged with the center of the inner side face of the grabbing disc;

the overturning oil cylinder is longitudinally arranged, and two ends of the overturning oil cylinder are respectively connected with the transverse outer sliding sleeve of the installation trolley and the overturning crank and are used for pushing the overturning crank to drive the grabbing disc to overturn;

and the torsion oil cylinder is transversely arranged, and two ends of the torsion oil cylinder are respectively connected with the grabbing disc and the trolley transverse inner sliding sleeve and are used for driving the grabbing disc to rotate by taking the hinged point as the center of a circle.

Further, the rectangular frame includes:

the four vertically arranged telescopic supporting legs are arranged at four top points of the rectangle and can ascend or descend in the vertical direction; the lower end of each telescopic supporting leg is provided with a walking mechanism for longitudinally moving in the tunnel;

the frame body longitudinal beam is composed of two longitudinal channel steels which are arranged at intervals left and right and positioned at the tops of the left and right telescopic supporting legs, and the opening sides of the channel steels face to the opposite sides; the opening of the channel steel is used as a sliding track for installing the longitudinally moving slide block of the trolley.

Furthermore, a set of mid-wall attitude visual recognition system is arranged above and below the longitudinal beam of the rectangular frame and used for acquiring the spatial position attitude information of the mid-wall to be installed relative to the installed mid-wall.

Further, the mid-partition installation machine further comprises:

two sets of positioning laser sensors are arranged, and each set of positioning laser sensors is arranged below two telescopic supporting legs positioned on one side of the central line of the tunnel 5 and used for detecting the X-direction distance;

two sets of jacking distance measuring laser sensors are respectively arranged on the telescopic supporting legs at the front end and the rear end of the mid-partition mounting machine 1, and the vertical displacement of the telescopic supporting legs is detected;

two sets of bottom clearance laser sensors are respectively arranged on the walking mechanism box body on one side, close to the center line of the tunnel, of the mid-board mounting machine, and the distance is measured by laser to the bottom of the mid-board to be mounted;

and the positioning laser sensor, the jacking distance measuring laser sensor and the bottom gap laser sensor are connected with an intelligent control system.

The invention also discloses a method for automatically positioning and controlling the space attitude of the intermediate wall by using the shield tunnel prefabricated intermediate wall mounting machine, which comprises the following steps:

step a, overturning the mid-partition to be installed, specifically:

step a.1, transversely moving the grabbing disc to the mid-partition to be installed: the middle partition wall 1 to be installed is fixed on the grabbing disc and is in a longitudinal horizontal state, the transverse moving oil cylinder drives the grabbing disc in the transverse direction, and the grabbing disc moves towards the center line of the tunnel until the middle line of the tunnel reaches a set position;

step a.2, jacking the mid-partition to be installed: the telescopic supporting legs rise to drive the mid-partition to be installed to lift up; the jacking distance measuring laser sensor measures the jacking distance, transmits the jacking distance to the intelligent control system, and stops jacking after jacking in place;

step a.3, detecting the rotation obstacle of the intermediate wall to be installed: the bottom gap laser sensor detects whether an obstacle exists in the bottom overturning range of the mid-partition to be installed, and if the obstacle is detected, the intelligent control system gives an alarm and stops acting; if no obstacle is detected, executing the next step;

step b, the mid-board to be installed is turned over by 90 degrees, and the method specifically comprises the following steps:

b.1, detecting a space distance below the overturning range of the intermediate wall to be installed by a bottom clearance laser sensor, if the space distance below the overturning range of the intermediate wall to be installed does not meet the requirement of the overturning space of the intermediate wall to be installed, sending alarm information by an intelligent control system, stopping overturning, driving telescopic supporting legs at the same time, jacking the intermediate wall to be installed until the requirement of the overturning space is met, and executing the next step; if the lower space distance meets the requirement of the turnover space of the intermediate wall to be installed, executing the next step;

b.2, driving the turnover main shaft to rotate by the turnover oil cylinder to drive the grabbing disc to rotate from a longitudinally arranged state to a vertically arranged state so as to synchronously drive the mid-partition to be installed to rotate from a longitudinally horizontal state to a vertical state;

step c, adjusting the posture of the mid-partition to be installed, which comprises the following steps:

step c.1, longitudinally moving the intermediate wall to be installed: the travelling mechanism travels longitudinally to drive the mid-board to be installed to move towards the installed mid-board, the positioning laser sensor transversely detects the edge of the installed mid-board, and when the edge of the installed mid-board is detected, the travelling mechanism continues to travel for a set distance and then stops;

step c.2, measuring the parallelism of the mid-partition to be installed and the longitudinally adjacent edge of the installed mid-partition by adopting two sets of mid-partition attitude visual recognition systems respectively, and acquiring the deviation of the rotation angle of the mid-partition to be installed and the installed mid-partition 2-2 around the X axis through an intelligent control system; the intelligent control system gives a driving control instruction of the turnover oil cylinder to enable the mid-partition to be installed to swing around the X axis and eliminate the corner deviation around the X axis;

c.3, respectively measuring surface information of the intermediate wall to be installed and the installed intermediate wall by adopting two sets of intermediate wall posture visual recognition systems, acquiring the rotation angle deviation around the Y axis of the intermediate wall to be installed and the installed intermediate wall through an intelligent control system, and giving a swing oil cylinder driving control instruction by the intelligent control system to enable the intermediate wall to be installed to swing around the Y axis so as to eliminate the rotation angle deviation around the Y axis;

c.4, respectively measuring surface information of the intermediate wall to be installed and the installed intermediate wall by adopting two sets of intermediate wall posture visual recognition systems, acquiring the rotation angle deviation around the Z axis of the intermediate wall to be installed and the installed intermediate wall through an intelligent control system, and giving a torsion oil cylinder driving control instruction by the intelligent control system to enable the intermediate wall to be installed to swing around the Z axis and eliminate the rotation angle deviation around the Z axis;

step c.5, accurately retesting the deviation of the rotation angles of the to-be-installed intermediate wall and the installed intermediate wall in the directions around the X axis, the Y axis and the Z axis according to the steps c.1, c.2 and c.3 by adopting two sets of intermediate wall posture visual recognition systems, and if the deviation of the rotation angles does not meet the precision control requirement, executing the steps c.1, c.2 or c.3 again until the precision control requirement is met, and carrying out the next operation;

d, finely adjusting the position of the mid-partition to be installed, specifically comprising the following steps:

step d.1, moving the intermediate wall to be installed downwards to the proper position: the method comprises the following steps that a jacking distance measuring laser sensor identifies the jacking position of a telescopic supporting leg of an intermediate wall mounting machine to obtain the distance between an intermediate wall to be mounted and the ground, and an intelligent control system controls the telescopic supporting leg to descend to enable the intermediate wall to be mounted to accurately descend to a designed mounting position;

d.2, longitudinally moving the intermediate wall to be installed to the right position: the two sets of mid-board attitude visual recognition systems respectively measure the distance between the mid-board to be installed and the adjacent edge of the installed mid-board to obtain the longitudinal displacement parameter of the mid-board to be installed, the intelligent control system controls the longitudinal displacement oil cylinder to longitudinally extend and retract so as to drive the mid-board to be installed to longitudinally move, and the mid-board to be installed is longitudinally moved to the designed installation position;

step d.3, transversely moving the mid-board to be installed in place: the two sets of mid-wall posture visual recognition systems 1-20 respectively measure the distance between the mid-wall to be installed and the transverse surface of the installed mid-wall to obtain the transverse displacement parameter of the mid-wall to be installed, the intelligent control system controls the transverse moving oil cylinder to transversely extend and retract to drive the mid-wall to be installed to move, and the mid-wall to be installed is transversely moved to the designed installation position.

Further, step e is included after step d:

step e, resetting the mid-partition mounting machine, which specifically comprises the following steps:

e.1, fixing the intermediate wall to be installed, the arc-shaped piece and the adjacent installed intermediate wall;

step e.2, the transverse moving oil cylinder is contracted, and the lifting pin shaft is retracted, so that the mid-partition mounting machine 1 is separated from the mid-partition to be mounted;

and e.3, resetting each hydraulic oil cylinder, and closing the intelligent control system.

The invention has the beneficial effects that: the mid-board to be installed is treated at the adoption and is carried out accurate adjustment in X to, Y to and Z to actuating the device, has realized that the automatic accurate of mid-board component overall process is assembled in the limited space of shield tunnel, can effectively improve the mid-board and assemble precision and efficiency, reduces artificial intervention, reduces the construction risk.

Drawings

FIG. 1 is an assembly schematic diagram of a mid-partition wall of a shield tunnel according to the present invention;

FIG. 2 is a view showing a construction of a longitudinal surface of an intermediate wall mounting machine;

FIG. 3 is a structural view of a transverse plane of an intermediate wall mounting machine required for the practice of the present invention;

FIG. 4 is a view of the mid-wall mounting machine measurement and control sensor layout required for the practice of the present invention;

FIG. 5 is a schematic view of the mid-wall to be installed in a lifting, grabbing attitude and traversing manner;

FIG. 6 is a transverse view of the mid-wall to be installed in a lifted and grasped position;

FIG. 7 is a schematic view of the mid-wall being installed being raised;

FIG. 8 is an inverted view of the intermediate wall to be installed;

FIG. 9 is a schematic view of the longitudinal movement of the intermediate wall to be installed;

fig. 10 is a schematic view illustrating a deviation of a rotation angle of an intermediate wall to be installed;

FIG. 11 is a schematic view showing the fine adjustment of the deviation of the rotation angle of the intermediate wall to be installed about the Y-axis;

FIG. 12 is a schematic view showing a fine adjustment of a deviation of an angle of rotation of an intermediate wall to be installed about a Z-axis;

FIG. 13 is a schematic view showing the fine adjustment of the deviation of the rotation angle of the mid-wall to be installed about the X-axis;

FIG. 14 is a schematic view of Z-direction displacement fine adjustment of the mid-wall to be installed;

FIG. 15 is a schematic view of the Y-direction displacement fine adjustment of the intermediate wall to be installed;

FIG. 16 is a schematic view showing the fine adjustment of the X-direction displacement of the intermediate wall to be installed;

wherein: 1. an intermediate wall mounting machine; 2. an intermediate wall; 2-1, installing an intermediate wall; 2-2, installing an intermediate wall; 2-3, grabbing holes on the intermediate wall; 3. an automotive carrier platform; 4. an arcuate member; 5. a tunnel;

1-1, a traveling mechanism; 1-2, telescopic supporting legs; 1-3, longitudinal beam of frame body; 1-4, installing a trolley longitudinally moving sliding block; 1-5, longitudinally moving an oil cylinder; 1-6. an intelligent control system; 1-7, swinging and hinging; 1-8, swinging the oil cylinder; 1-9, installing a trolley to transversely move an outer sliding sleeve; 1-10, installing a trolley to transversely move an inner sliding sleeve; 1-11, turning over a crank; 1-12, turning over the oil cylinder; 1-13, turning over the main shaft; 1-14, a torsion oil cylinder; 1-15. a grasping disk; 1-16, lifting a pin shaft; 1-17, transversely moving the oil cylinder; 1-18, positioning a laser sensor; 1-19, jacking distance measuring laser sensor; 1-20. a mid-partition attitude visual identification system; 1-21. bottom gap laser sensor.

Detailed Description

The invention is described in detail below with reference to the drawings and the detailed description.

The invention relates to a shield tunnel prefabricated intermediate wall mounting machine, as shown in figures 1, 2 and 3, the intermediate wall mounting machine 1 is used for being arranged in a tunnel and is positioned on the left or right side of the tunnel 5 by taking a central line as a dividing line; the lifting frame is a spatial rectangular frame structure and can ascend or descend in the vertical direction; the transverse direction is set to be the X direction, the longitudinal direction is the Y direction, and the vertical direction is the Z direction.

The mid-partition mounting machine 1 comprises a grabbing disc 1-15, an actuating device, a rectangular frame and an intelligent control system 1-6, wherein: the grabbing disc 1-15 is arranged close to the midline side, is a plate body and is vertically arranged, the outer side of the grabbing disc faces the midline side, the outer side of the grabbing disc is used for bearing the intermediate wall 2-1 to be installed, and the intermediate wall 2-1 to be installed is in a longitudinal horizontal state at the beginning.

The actuating device is arranged on the rectangular frame and is used for: the grabbing disc 1-15 is pushed to move longitudinally and transversely to drive the intermediate wall 2-1 to be installed to move longitudinally and transversely and move to the position to be installed; the grabbing disc 1-15 is pushed to rotate 90 degrees in the vertical plane, and the mid-partition 2-1 to be installed is rotated from the horizontal state to the vertical state; for pushing the gripping disk 1-15 to rotate until the deviation of the rotation angle of the to-be-installed intermediate wall 2-1 and the installed intermediate wall 2-2 in the X direction, the Y direction and the Z direction is eliminated.

The intelligent control system 1-6 is used for controlling the actuation of the actuating device.

The actuating device includes: the mounting trolley longitudinal movement sliding blocks 1-4 are arranged on the longitudinal beam above the rectangular frame and can longitudinally and reciprocally slide along the rectangular frame;

the longitudinal moving oil cylinder 1-5 is longitudinally arranged, one end of the longitudinal moving oil cylinder is connected with the longitudinal moving sliding block 1-4 of the mounting trolley, and the other end of the longitudinal moving oil cylinder is connected with the rectangular frame; the longitudinal moving oil cylinder 1-5 is used for driving the longitudinal moving slide block 1-4 of the mounting trolley to longitudinally reciprocate;

the installation trolley transversely moves the outer sliding sleeves 1-9 and is a shell which is transversely arranged, and the opening end of the shell faces the centerline side of the tunnel 5; the installation trolley is arranged below the longitudinal sliding block 1-4 of the installation trolley, and the installation trolley and the longitudinal sliding block are connected through a swinging hinge 1-7; the swing oil cylinder 1-8 is vertically arranged, two ends of the swing oil cylinder are respectively connected with the mounting trolley longitudinal movement sliding block 1-4 and the mounting trolley transverse movement outer sliding sleeve 1-9, the swing oil cylinder 1-8 is positioned close to the tail end of the mounting trolley transverse movement outer sliding sleeve 1-9, and the swing oil cylinder 1-8 is used for pushing the tail end of the mounting trolley transverse movement outer sliding sleeve 1-9 to move downwards so as to drive the front end grab tray 1-15 to swing around the Y axis.

The installation trolley transverse moving inner sliding sleeve 1-10 is coaxially inserted into the installation trolley transverse moving outer sliding sleeve 1-9 and is connected with the installation trolley transverse moving outer sliding sleeve 1-9 through a transverse moving oil cylinder 1-17, and the installation trolley transverse moving inner sliding sleeve 1-10 can slide in a left-right reciprocating mode in the installation trolley transverse moving outer sliding sleeve 1-9;

the turning main shaft 1-13 is a shaft body, is coaxially arranged at the outer end part of the installation trolley transverse moving inner sliding sleeve 1-10 close to the centerline, and can rotate in the installation trolley transverse moving inner sliding sleeve 1-10; the outer ends of the turnover main shafts 1-13 are hinged with the grabbing discs 1-15;

the transverse oil cylinder 1-17 is used for pushing the mounting trolley to transversely and reciprocally slide the inner sliding sleeve 1-10 so as to push the grabbing disc 1-15 to transversely and reciprocally move.

The actuating device further includes:

the overturning crank 1-11 is a plate body with a large end and a small end, the small end of the overturning crank is connected with the overturning main shaft 1-13, and the large end of the overturning crank is hinged with the center of the inner side face of the grabbing disc 1-15;

the overturning oil cylinder 1-12 is longitudinally arranged, and two ends of the overturning oil cylinder are respectively connected with the transverse outer sliding sleeve 1-9 of the installation trolley and the overturning crank 1-11 and used for pushing the overturning crank 1-11 to drive the grabbing disc 1-15 to overturn;

and the torsion oil cylinders 1-14 are transversely arranged, and two ends of the torsion oil cylinders are respectively connected with the grabbing discs 1-15 and the trolley transverse inner sliding sleeves 1-10 and are used for driving the grabbing discs 1-15 to rotate by taking the hinged point as the center of a circle.

The rectangle frame includes:

the four vertically arranged telescopic legs 1-2 are arranged at four top points of the rectangle and can ascend or descend in the vertical direction; the lower end of each telescopic supporting leg 1-2 is provided with a travelling mechanism 1-2 which is used for longitudinally moving in the tunnel;

the frame body longitudinal beam 1-3 is two longitudinal channel steels which are arranged at intervals left and right, the telescopic supporting legs 1-2 on the left and right sides are positioned at the top, and the opening sides of the channel steels face to the opposite sides; the opening of the channel steel is used as a sliding track for installing the longitudinal sliding blocks 1-4 of the trolley.

And a set of mid-partition attitude visual recognition system 1-20 is respectively arranged above and below the rectangular frame longitudinal beam.

As shown in fig. 4, 5, 6 and 7, the intermediate wall mounting machine 1 further includes:

two sets of positioning laser sensors 1-18 are arranged, and each set of positioning laser sensors is arranged below two telescopic supporting legs 1-2 positioned on one side of the center line of the tunnel 5 and is used for detecting the X-direction distance; the edge of the installed intermediate wall 2-2 is recognized to determine the longitudinal (Y-direction) position of the intermediate wall installation machine 1.

Two sets of jacking distance measuring laser sensors 1-19 are respectively arranged on the telescopic supporting legs 1-2 at the front end and the rear end of the mid-board mounting machine 1, and the jacking distance of the mid-board mounting machine 1 is judged by detecting the displacement of the telescopic supporting legs 1-2 in the vertical direction.

Two sets of bottom gap laser sensors 1-21 are respectively arranged on a box body of the walking mechanism 1-1 on one side of the mid-line of the tunnel 5 close to the mid-line of the mid-board mounting machine 1, and the safe distance between the mid-board 2-1 to be mounted and the ground (the upper surface of the arc-shaped piece 4) can be determined by sensing whether an obstacle exists in the set range through laser ranging to the bottom of the mid-board 2-1 to be mounted. The bottom gap laser sensor 1-21 is mainly used for detecting the distance from the ground in the process of turning the mid-partition 2-1 to be installed by 90 degrees, and can prevent the collision between the two.

The positioning laser sensors 1-18, the jacking distance measuring laser sensors 1-19 and the bottom clearance laser sensors 1-21 are all connected with the intelligent control system 1-6.

The intermediate wall attitude visual recognition system 1-20 is used for acquiring the spatial position attitude information of the intermediate wall 2-1 to be installed relative to the installed intermediate wall 2-2. The two sets of the mid-wall posture visual recognition systems 1-20 are respectively arranged above and below the mid-wall mounting machine 1 through two sets of independent manipulators, and can be used for detecting the spatial posture information of the mid-wall 2-1 to be mounted and the mounted mid-wall 2-2. The surface three-dimensional information of the to-be-installed intermediate wall 2-1 and the installed intermediate wall 2-2 is recognized by adopting a binocular recognition system, so that the spatial attitude and the structural edge position of the to-be-installed intermediate wall 2-1 and the installed intermediate wall 2-2 are obtained, the spatial position and the attitude deviation between the to-be-installed intermediate wall 2-1 and the installed intermediate wall 2-2 can be obtained through contrastive analysis, and the control parameters are provided for the intelligent control system 1-6.

The method for automatically positioning and controlling the space posture of the intermediate wall by using the shield tunnel prefabricated intermediate wall mounting machine comprises the following steps of:

step a, overturning the mid-partition 2-1 to be installed, specifically:

step a.1, transversely moving an intermediate wall 2-1 to be installed: the to-be-installed intermediate wall 2-1 is fixed on the grabbing disc 1-15, the to-be-installed intermediate wall 2-1 is in a longitudinal horizontal state, the transverse moving oil cylinder 1-17 drives the grabbing disc 1-15 in the transverse direction, the grabbing disc 1-15 moves towards the center line of the tunnel 5 until the set position is reached, and the moment generated by the self weight of the to-be-installed intermediate wall 2-1 is reduced.

Step a.2, jacking a mid-partition 2-1 to be installed: starting the telescopic supporting legs 1-2 of the intermediate wall mounting machine 1, lifting the telescopic supporting legs 1-2 to drive the intermediate wall 2-1 to be mounted to lift, and reserving enough top and bottom spaces for overturning the intermediate wall 2-1 to be mounted. The jacking distance measuring laser sensor 1-19 measures the jacking distance, after the installed intermediate wall 2-1 is jacked in place, the jacking distance is transmitted to the intelligent control system 1-6, and after the jacking distance is set in place, the jacking is stopped;

step a.3, detecting the rotation obstacle of the intermediate wall 2-1 to be installed: the bottom clearance laser sensor 1-21 detects whether an obstacle exists in the bottom overturning range of the mid-partition 2-1 to be installed, if the obstacle is detected, the intelligent control system 1-6 gives an alarm and stops acting; if no obstacle is detected, executing the next step; as shown in fig. 7.

Step b, turning over the partition wall 2-1 to be installed by 90 degrees, as shown in fig. 8, specifically:

b.1, in the process of turning the to-be-installed intermediate wall 2-1 by 90 degrees, detecting a space distance below the turning range of the to-be-installed intermediate wall 2-1 by using a bottom gap laser sensor 1-21, if the space distance below the to-be-installed intermediate wall does not meet the turning space requirement of the to-be-installed intermediate wall 2-1, sending alarm information by using an intelligent control system 1-6, stopping turning, simultaneously driving telescopic supporting legs 1-2 to jack the to-be-installed intermediate wall 2-1 until the turning space requirement is met, and executing the next step; if the lower space distance meets the requirement of the overturning space of the intermediate wall 2-1 to be installed, executing the next step;

step b.2, the overturning oil cylinder 1-12 drives the overturning main shaft 1-13 to rotate, and drives the grabbing disc 1-15 to rotate from a longitudinally arranged state to a vertically arranged state, so as to synchronously drive the intermediate wall 2-1 to be installed to rotate from a longitudinally horizontal state to a vertical state;

step c, adjusting the posture of the intermediate wall 2-1 to be installed, as shown in fig. 9-16, specifically as follows:

step c.1, longitudinally moving the intermediate wall 2-1 to be installed: starting a travelling mechanism 1-1 of an intermediate wall mounting machine 1 to travel longitudinally, driving an intermediate wall 2-1 to be mounted to move towards the direction of a mounted intermediate wall 2-2, transversely detecting the edge of the mounted intermediate wall 2-2 by a positioning laser sensor 1-18, and stopping after the travelling mechanism 1-1 continues to travel for a set distance when the edge of the mounted intermediate wall 2-2 is detected; the moving distance is required to ensure that the intermediate wall 2-1 to be installed is closer to the installed intermediate wall 2-2, so that the requirements of the two sets of intermediate wall posture visual recognition systems 1-20 on the working distance are met, and meanwhile, enough posture adjustment space is reserved;

step c.2, measuring the parallelism of the to-be-installed intermediate wall 2-1 and the longitudinally adjacent edge of the installed intermediate wall 2-2 by adopting two sets of intermediate wall posture visual recognition systems 1-20 respectively, and acquiring the rotation angle deviation of the to-be-installed intermediate wall 2-1 and the installed intermediate wall 2-2 around the X axis through an intelligent control system 1-6; according to the deviation of the rotation angle of the to-be-installed intermediate wall 2-1 and the installed intermediate wall 2-2 around the X axis, the intelligent control system 1-6 gives a driving control instruction of the turnover oil cylinder 1-12, so that the to-be-installed intermediate wall 2-1 swings around the X axis, and the deviation of the rotation angle around the X axis is eliminated;

step c.3, two sets of mid-wall posture visual recognition systems 1-20 are adopted to respectively measure surface information of the mid-wall 2-1 to be installed and the installed mid-wall 2-2, the rotation angle deviation of the mid-wall 2-1 to be installed and the installed mid-wall 2-2 around the Y axis is obtained through an intelligent control system 1-6, and the intelligent control system 1-6 gives a driving control instruction of a swing oil cylinder 1-8 to enable the mid-wall 2-1 to be installed to swing around the Y axis and eliminate the rotation angle deviation around the Y axis;

step c.4, two sets of mid-wall posture visual recognition systems 1-20 are adopted to respectively measure surface information of the mid-wall 2-1 to be installed and the installed mid-wall 2-2, the rotation angle deviation of the mid-wall 2-1 to be installed and the installed mid-wall 2-2 around the Z axis is obtained through an intelligent control system 1-6, the intelligent control system 1-6 gives a driving control instruction of a torsion oil cylinder 1-14, the mid-wall 2-1 to be installed swings around the Z axis, and the rotation angle deviation around the Z axis is eliminated;

step c.5, two sets of mid-wall attitude visual recognition systems 1-20 are adopted, the deviation of the rotation angles of the mid-wall 2-1 to be installed and the installed mid-wall 2-2 in the directions around the X axis, the Y axis and the Z axis is accurately retested according to the steps c.1, c.2 and c.3, if the deviation of the rotation angles does not meet the precision control requirement, the steps c.1, c.2 or c.3 are re-executed until the precision control requirement is met, and the next operation is carried out;

the above steps c.1, c.2, c.3 can be reversed.

D, finely adjusting the position of the partition wall 2-1 to be installed, which comprises the following steps:

step d.1, moving the intermediate wall 2-1 to be installed downwards to the position: the method comprises the following steps that a jacking distance measuring laser sensor 1-19 identifies the jacking position of a telescopic supporting leg 1-2 of an intermediate wall mounting machine 1 to obtain the distance between an intermediate wall 2-1 to be mounted and the ground, and an intelligent control system 1-6 controls the telescopic supporting leg 1-2 to descend to enable the intermediate wall 2-1 to be mounted to accurately descend to a designed mounting position;

d.2, longitudinally moving the intermediate wall 2-1 to be installed to the position: the two sets of mid-wall posture visual recognition systems 1-20 respectively measure the distance between the mid-wall 2-1 to be installed and the adjacent edge of the installed mid-wall 2-2 to obtain the longitudinal displacement parameter of the mid-wall 2-1 to be installed, the intelligent control system 1-6 controls the longitudinal displacement oil cylinder 1-5 to longitudinally extend and retract to drive the mid-wall 2-1 to be installed to longitudinally move, and the mid-wall 2-1 to be installed is longitudinally and accurately moved to a designed installation position;

step d.3, transversely moving the intermediate wall 2-1 to be installed in place: the two sets of mid-board attitude visual recognition systems 1-20 respectively measure the distance between the mid-board 2-1 to be installed and the transverse surface of the installed mid-board 2-2 to obtain the transverse displacement parameter of the mid-board 2-1 to be installed, the intelligent control system 1-6 controls the transverse moving oil cylinder 1-17 to transversely stretch and retract to drive the mid-board 2-1 to be installed to move, and the mid-board 2-1 to be installed is transversely moved to the designed installation position.

Step e is also included after step d:

step e, resetting the mid-partition mounting machine 1, and specifically comprising:

step e.1, fixing the intermediate wall 2-1 to be installed with the ground and the adjacent installed intermediate wall 2-2 by using a temporary cushion block and a bolt;

step e.2, the transverse moving oil cylinders 1-17 are contracted, and the lifting pin shafts 1-16 are retracted, so that the mid-board mounting machine 1 is separated from the mid-board 2-1 to be mounted;

and e.3, resetting the mid-partition mounting machine 1, restoring the hydraulic oil cylinders and the intelligent control systems 1-6 to the initial state, and waiting for next assembly.

And at this moment, the partition wall 2-1 to be installed completes high-precision positioning of space postures and complete the state from the horizontal grabbing and lifting state to the vertical precise assembling state.

In the installation process, the high-precision positioning of the heavy and large-size intermediate wall component in the tunnel space in the six-degree-of-freedom posture is realized, the informationized, automatic and unmanned assembly is realized in the whole process, the construction risk is obviously reduced, and the assembly precision and the work efficiency of the intermediate wall to be installed are ensured.

Claims

1. The mounting machine for the prefabricated intermediate wall of the shield tunnel is characterized in that the mounting machine (1) for the intermediate wall is arranged in the tunnel and is positioned on the left side or the right side of the tunnel (5) by taking a center line as a dividing line; the lifting frame is a spatial rectangular frame structure and can ascend or descend in the vertical direction; setting the transverse direction as X direction, the longitudinal direction as Y direction and the vertical direction as Z direction;

the mid-partition installation machine (1) comprises: grab dish (1-15), actuate device, rectangle frame and intelligent control system (1-6), wherein:

the grabbing disc (1-15) is arranged close to the midline side, is a plate body and is vertically arranged, the outer side of the grabbing disc faces the midline side, the outer side of the grabbing disc is used for bearing the intermediate wall (2-1) to be installed, and the intermediate wall (2-1) to be installed is in a longitudinal horizontal state at the beginning;

the actuating device is arranged on the rectangular frame and used for: pushing the grabbing disc (1-15) to move longitudinally and transversely so as to drive the intermediate wall (2-1) to be installed to move longitudinally and transversely and move to the position to be installed; the grabbing disc (1-15) is pushed to rotate 90 degrees in a vertical plane, and the to-be-installed intermediate wall (2-1) is rotated to a vertical state from a horizontal state; the device is used for pushing the grabbing disc (1-15) to rotate until the deviation of the rotation angles of the to-be-installed intermediate wall (2-1) and the installed intermediate wall (2-2) in the X direction, the Y direction and the Z direction is eliminated;

the intelligent control system (1-6) is used for controlling the actuation of the actuating device.

2. The shield tunnel prefabricated intermediate wall mounting machine according to claim 1, wherein the actuating device comprises:

the mounting trolley longitudinal movement sliding blocks (1-4) are arranged on the longitudinal beam above the rectangular frame and can longitudinally and reciprocally slide along the rectangular frame;

the longitudinal moving oil cylinder (1-5) is longitudinally arranged, one end of the longitudinal moving oil cylinder is connected with the longitudinal moving sliding block (1-4) of the mounting trolley, and the other end of the longitudinal moving oil cylinder is connected with the rectangular frame; the longitudinal moving oil cylinder (1-5) is used for driving the longitudinal moving sliding block (1-4) of the mounting trolley to longitudinally reciprocate;

the installation trolley transversely moves the outer sliding sleeve (1-9) and is a shell which is transversely arranged, and the opening end faces the centerline side of the tunnel (5); the installation trolley is arranged below the longitudinal sliding block (1-4) of the installation trolley, and the installation trolley and the longitudinal sliding block are connected through a swinging hinge (1-7);

the installation trolley transverse inner sliding sleeve (1-10) is coaxially inserted into the installation trolley transverse outer sliding sleeve (1-9) and is connected with the installation trolley transverse outer sliding sleeve (1-9) through a transverse oil cylinder (1-17), and the installation trolley transverse inner sliding sleeve (1-10) can slide in a left-right reciprocating mode in the installation trolley transverse outer sliding sleeve (1-9);

the turnover main shaft (1-13) is a shaft body, is coaxially arranged at the outer end part of the installation trolley transverse inner sliding sleeve (1-10) close to the centerline side, and can rotate in the installation trolley transverse inner sliding sleeve (1-10); the outer end of the overturning main shaft (1-13) is hinged with the grabbing disc (1-15);

the transverse moving oil cylinder (1-17) is used for pushing the transverse moving inner sliding sleeve (1-10) of the mounting trolley to slide in a reciprocating mode in the transverse direction so as to push the grabbing disc (1-15) to move in a reciprocating mode in the transverse direction.

3. The shield tunnel prefabricated intermediate wall installing machine of claim 2, wherein the actuating device further comprises:

the overturning crank (1-11) is a plate body with a large end and a small end, the small end of the overturning crank is connected with the overturning main shaft (1-13), and the large end of the overturning crank is hinged with the center of the inner side surface of the grabbing disc (1-15);

the overturning oil cylinder (1-12) is longitudinally arranged, and two ends of the overturning oil cylinder are respectively connected with the transverse outer sliding sleeve (1-9) of the installation trolley and the overturning crank (1-11) and used for pushing the overturning crank (1-11) to drive the grabbing disc (1-15) to overturn;

and the torsion oil cylinders (1-14) are transversely arranged, and two ends of the torsion oil cylinders are respectively connected with the grabbing discs (1-15) and the trolley transverse inner sliding sleeves (1-10) and are used for driving the grabbing discs (1-15) to rotate by taking the hinged point as a circle center.

4. The shield tunnel prefabricated intermediate wall installing machine of claim 3, wherein the rectangular frame comprises:

the four vertically arranged telescopic supporting legs (1-2) are arranged at four top points of the rectangle and can ascend or descend in the vertical direction; the lower end of each telescopic supporting leg (1-2) is provided with a walking mechanism (1-2) which is used for longitudinally moving in the tunnel;

the frame body longitudinal beam (1-3) is two longitudinal channel steels, is arranged at left and right intervals, is positioned at the tops of the left and right telescopic supporting legs (1-2), and the opening sides of the channel steels face to opposite sides; the opening of the channel steel is used as a sliding track for installing the longitudinally moving sliding blocks (1-4) of the trolley.

5. The shield tunnel prefabricated intermediate wall installation machine according to claim 4, wherein a set of intermediate wall attitude visual recognition systems (1-20) is provided above and below the longitudinal beams of the rectangular frame for obtaining spatial position attitude information of the intermediate wall (2-1) to be installed with respect to the installed intermediate wall (2-2).

6. The shield tunnel prefabricated intermediate wall installing machine as claimed in claim 5, wherein the intermediate wall installing machine (1) further comprises:

two sets of positioning laser sensors (1-18) are arranged, and each set of positioning laser sensors is arranged below the two telescopic supporting legs (1-2) positioned on one side of the central line of the tunnel 5 and used for detecting the X-direction distance;

two sets of jacking distance measuring laser sensors (1-19) are respectively arranged on the telescopic supporting legs (1-2) at the front end and the rear end of the mid-partition wall mounting machine 1, and the displacement of the telescopic supporting legs (1-2) in the vertical direction is detected;

two sets of bottom clearance laser sensors (1-21) are respectively arranged on the box body of the walking mechanism (1-1) at one side of the mid-board mounting machine (1) close to the center line of the tunnel (5), and the distance is measured by laser to the bottom of the mid-board (2-1) to be mounted;

the positioning laser sensors (1-18), the jacking distance-measuring laser sensors (1-19) and the bottom gap laser sensors (1-21) are all connected with an intelligent control system (1-6).

7. The method for automatically positioning and controlling the space attitude of the intermediate wall by a shield tunnel prefabricated intermediate wall mounting machine according to any one of claims 1 to 6, comprising the steps of:

step a, overturning the mid-partition (2-1) to be installed, specifically:

step a.1, transversely moving the grabbing disc (1-15) to the partition wall 2-1 to be installed: the middle partition wall 2-1 to be installed is fixed on the grabbing disc (1-15), the middle partition wall (2-1) to be installed is in a longitudinal horizontal state, the grabbing disc (1-15) is driven by the transverse moving oil cylinder (1-17) in the transverse direction, and the grabbing disc (1-15) moves towards the center line of the tunnel (5) until a set position is reached;

step a.2, jacking the mid-partition (2-1) to be installed: the telescopic supporting legs (1-2) rise to drive the mid-partition (2-1) to be installed to lift up; the jacking distance measuring laser sensors (1-19) measure jacking distances, transmit the jacking distances to the intelligent control system (1-6), and stop jacking after jacking in place;

step a.3, detecting the rotation obstacle of the intermediate wall (2-1) to be installed: the bottom clearance laser sensor (1-21) detects whether an obstacle exists in the bottom overturning range of the mid-board (2-1) to be installed, if the obstacle is detected, the intelligent control system (1-6) gives an alarm and stops acting; if no obstacle is detected, executing the next step;

step b, overturning the mid-partition (2-1) to be installed by 90 degrees, specifically:

b.1, detecting a space distance below the overturning range of the to-be-installed intermediate wall (2-1) by using a bottom clearance laser sensor (1-21), if the space distance below the to-be-installed intermediate wall (2-1) does not meet the requirement of the overturning space of the to-be-installed intermediate wall (2-1), sending alarm information by using an intelligent control system (1-6), stopping overturning, driving a telescopic supporting leg (1-2) at the same time, jacking the to-be-installed intermediate wall (2-1) until the overturning space requirement is met, and executing the next step; if the lower space distance meets the requirement of the turnover space of the intermediate wall (2-1) to be installed, executing the next step;

step b.2, the turnover oil cylinder (1-12) drives the turnover main shaft (1-13) to rotate, so as to drive the grabbing disc (1-15) to rotate from a longitudinally arranged state to a vertically arranged state, and synchronously drive the mid-partition (2-1) to be installed to rotate from a longitudinally horizontal state to a vertical state;

step c, adjusting the posture of the mid-partition (2-1) to be installed, which comprises the following steps:

step c.1, longitudinally moving the intermediate wall (2-1) to be installed: the traveling mechanism (1-1) travels longitudinally to drive the to-be-installed intermediate wall (2-1) to move towards the installed intermediate wall (2-2), the positioning laser sensor (1-18) transversely detects the edge of the installed intermediate wall (2-2), and when the edge of the installed intermediate wall (2-2) is detected, the traveling mechanism (1-1) continues to travel for a set distance and then stops;

step c.2, measuring the parallelism of the longitudinal adjacent edges of the to-be-installed intermediate wall (2-1) and the installed intermediate wall (2-2) by adopting two sets of intermediate wall posture visual recognition systems (1-20), and acquiring the rotation angle deviation around the X axis of the to-be-installed intermediate wall (2-1) and the installed intermediate wall (2-2) through an intelligent control system (1-6); the intelligent control system (1-6) gives a driving control instruction of the turnover oil cylinder (1-12), so that the partition wall (2-1) to be installed swings around the X axis, and the deviation of the rotation angle around the X axis is eliminated;

step c.3, two sets of mid-wall posture visual recognition systems (1-20) are adopted to respectively measure surface information of the mid-wall (2-1) to be installed and the installed mid-wall (2-2), the rotation angle deviation of the mid-wall (2-1) to be installed and the installed mid-wall (2-2) around the Y axis is obtained through the intelligent control systems (1-6), the intelligent control systems (1-6) give out driving control instructions of the swing oil cylinders (1-8), the mid-wall (2-1) to be installed swings around the Y axis, and the rotation angle deviation around the Y axis is eliminated;

step c.4, two sets of mid-wall posture visual recognition systems (1-20) are adopted to respectively measure surface information of the mid-wall (2-1) to be installed and the installed mid-wall (2-2), the rotation angle deviation of the mid-wall (2-1) to be installed and the installed mid-wall (2-2) around the Z axis is obtained through the intelligent control systems (1-6), the intelligent control systems (1-6) give driving control instructions of the torsion oil cylinders (1-14), the mid-wall (2-1) to be installed swings around the Z axis, and the rotation angle deviation around the Z axis is eliminated;

step c.5, two sets of mid-wall attitude visual recognition systems (1-20) are adopted, the deviation of the rotation angles of the mid-wall (2-1) to be installed and the installed mid-wall (2-2) in the directions of the X axis, the Y axis and the Z axis is accurately retested according to the steps c.1, c.2 and c.3, if the deviation of the rotation angles does not meet the precision control requirement, the steps c.1, c.2 or c.3 are re-executed until the precision control requirement is met, and the next operation is carried out;

d, finely adjusting the position of the mid-partition (2-1) to be installed, which comprises the following steps:

step d.1, moving the mid-partition (2-1) to be installed downwards to the position: the method comprises the following steps that a jacking distance measuring laser sensor (1-19) identifies the jacking position of a telescopic supporting leg (1-2) of an intermediate wall mounting machine (1) to obtain the distance between the intermediate wall (2-1) to be mounted and the ground, and an intelligent control system (1-6) controls the telescopic supporting leg (1-2) to descend, so that the intermediate wall (2-1) to be mounted is accurately descended to a designed mounting position;

d.2, longitudinally moving the intermediate wall (2-1) to be installed to the position: the two sets of mid-board attitude visual recognition systems (1-20) respectively measure the distance between the mid-board (2-1) to be installed and the adjacent edge of the installed mid-board (2-2) to obtain the longitudinal displacement parameter of the mid-board (2-1) to be installed, the intelligent control system (1-6) controls the longitudinal movement oil cylinder (1-5) to longitudinally extend and retract so as to drive the mid-board (2-1) to be installed to longitudinally move, and the mid-board (2-1) to be installed is longitudinally moved to the designed installation position;

step d.3, transversely moving the intermediate wall (2-1) to be installed in place: the two sets of mid-wall posture visual recognition systems 1-20 respectively measure the distance between the mid-wall (2-1) to be installed and the transverse surface of the installed mid-wall (2-2) to obtain the transverse displacement parameters of the mid-wall (2-1) to be installed, the intelligent control system (1-6) controls the transverse moving oil cylinders (1-17) to transversely stretch and retract to drive the mid-wall (2-1) to be installed to move, and the mid-wall (2-1) to be installed is transversely moved to a designed installation position.

8. The method for automatically positioning and controlling the spatial attitude of the intermediate wall by using the shield tunnel prefabricated intermediate wall mounting machine according to claim 7, further comprising the step e after the step d of:

step e, resetting the mid-partition mounting machine (1), and specifically comprising the following steps:

e.1, fixing the intermediate wall (2-1) to be installed, the arc-shaped part (4) and the adjacent installed intermediate wall (2-2);

step e.2, the transverse moving oil cylinders (1-17) are contracted, and the lifting pin shafts (1-16) are retracted, so that the mid-board mounting machine 1 is separated from the mid-board (2-1) to be mounted;

and e.3, resetting each hydraulic oil cylinder, and closing the intelligent control system (1-6).