WO2021088596A1

WO2021088596A1 - Method for tensioning prefabricated component employing centroid tracking and seam width control

Info

Publication number: WO2021088596A1
Application number: PCT/CN2020/120426
Authority: WO
Inventors: 杨秀仁; 黄美群; 彭智勇; 林放
Original assignee: 北京城建设计发展集团股份有限公司
Priority date: 2019-11-04
Filing date: 2020-10-12
Publication date: 2021-05-14
Also published as: EP3868979B1; CN110924687B; EP3868979A1; CN110924687A; EP3868979A4

Abstract

A method for tensioning a prefabricated component employing centroid tracking and seam width control comprises the following steps: step 1, establishing a coordinate set Ω (107) of a center point at a centerline micro-segment of a rubber seal and a coordinate set Π (101) of a center point at a bolt hole position; step 2, respectively performing calculations to obtain a geometric centroid (K) of the rubber seal and a counter force centroid (K_F) of the rubber seal; step 3, performing calculations to obtain a tensioning force centroid of a jack (K_P); step 4, tensioning a prefabricated component employing seam width control; and step 5, tensioning the prefabricated component employing centroid tracking. The method for tensioning a prefabricated component employing centroid tracking and seam width control can realize uniform compression of a rubber seal and a constant seam width, thereby enhancing connection precision of prefabricated components and construction quality of a prefabricated structure.

Description

Tensioning method of prefabricated component based on centroid tracking and seam width control

Technical field

The invention relates to the technical field of construction engineering, in particular to a prefabricated component tensioning method based on centroid tracking and seam width control.

Background technique

Prefabricated assembly technology usually uses rubber gaskets as the key waterproof material for the longitudinal and circumferential joints of the assembly components in the application of underground structures. This kind of material is usually composed of a non-linear elastic material. Under the action of the tensile force of the assembled jack, it can follow the change of the indirect seam width of the component and deform. On the one hand, it can ensure the waterproof and sealing performance between the component joints. On the one hand, it provides a cushioning effect for the components in the assembling and completion stage, so as to avoid quality degradation problems such as component cracking caused by bumps.

After the prefabricated component rubber gasket is in contact and compressed during the assembly and tensioning process, try to ensure that the width of the indirect seam of the assembled component is uniform, the rubber gasket is compressed by the same amount, and the elastic reaction force value is consistent. The reaction force of the rubber gasket The centroid is consistent with the plane centroid, so as to ensure the assembly quality. However, because the width of the seam between the assembled components is often uneven due to various factors, the elasticity of the rubber seals at different parts of the component is different, and the elastic reaction force value is also different, and the center of the reaction force and the plane center of the rubber seal will appear. Inconsistency. Therefore, it is necessary to monitor the tension force of the tension jack corresponding to the bolt hole position in real time, and determine the reaction force and the centroid of the reaction force of the rubber gasket in different assembled states through inverse calculation. By adjusting the tension force of the tension jack, Try to ensure that the center of the reaction force of the rubber gasket is coincident with the plane to ensure the quality of the assembly.

When assembling prefabricated components, each component needs to be tensioned at multiple points with several jacks. In order to realize the uniform compression of the rubber gasket during the assembly process of the prefabricated components, and try to ensure the center of the reaction force of the rubber gasket and the geometry of the rubber gasket The centroids coincide to ensure the assembly quality. It is necessary to establish a prefabricated component tensioning method. By dynamically tracking the relationship between the centroid position of the reaction force of the rubber gasket and the geometric centroid position of the rubber gasket, several tension jacks are determined. The tension load at all times can gradually approach the target position of the prefabricated component tension, and reach the pre-set joint width and ensure that the joint width is uniform.

As shown in Figure 1A, Figure 1B and Figure 1C, the contact surface 4 of the previous group of components B-2 and the contact surface 5 of the component B-1 to be assembled are symmetrically arranged with

gaskets

7, 6 respectively, and between the two components The width of the joint is affected by the tensile force of the jacks passing through the tensile hole 1, the elastic reaction force of the sealing gasket, and the magnitude and position of the sliding friction force of the adjacent members and the cushion. Under the action of the tension force of the jacks in different positions, the

gaskets

6 and 7 are squeezed to produce elastic reaction force. However, due to the irregular shape of the components and the

gaskets

6, 7 the centroid of the force of the jacks in the multiple groups may be It does not coincide with the geometric centroid of the gasket, so that the elastic reaction force centroid generated by the gasket does not coincide with the geometric centroid, resulting in different degrees of compression and deformation of the gasket everywhere in the joint.

To this end, the designer of the present invention, in view of the above-mentioned defects, through concentrated research and design, combined with years of experience and achievements in related industries, researched and designed a prefabricated component tension based on centroid tracking and seam width control. Methods to overcome the above-mentioned shortcomings.

Summary of the invention

The object of the present invention is to provide a prefabricated component stretching method based on centroid tracking and seam width control, which can realize that when the prefabricated component is stretched, the rubber gasket is uniformly compressed, and the seam width is the same everywhere in the joint. Thereby improving the assembly accuracy of large-scale prefabricated components and the construction quality of prefabricated structures.

In order to solve the above problems, the present invention discloses a prefabricated component tensioning method based on centroid tracking and seam width control, which is characterized by including the following steps:

Step 1: Establish the center point coordinate set Ω of the micro-segment center line of the rubber gasket and the center point coordinate set Π of the bolt hole position;

Step 2: Calculate the geometric center of the rubber gasket and the center of reaction force of the rubber gasket respectively;

Step 3: Calculate the centroid of jack tension;

Step 4: Tension of prefabricated components based on seam width control;

Step 5: Tension of prefabricated components based on centroid tracking.

Among them: in step two, since any point of the center point coordinate set Ω of the center line of the rubber gasket represents a square rubber gasket micro-segment, the length of each rubber gasket micro-segment is the same as the gasket width λ, square The area of the micro-segment of the rubber gasket is A ₀ =λ ² , the coordinates and areas of all points in the center line of the rubber gasket’s micro-segment center point coordinate set Ω are calculated from the X-axis and Y-axis to calculate the rubber seal The geometric centroid of the pad (X, Y) and the coordinates of the geometric centroid (X, Y) on the XOY plane are obtained by formulas 1 and 2:

Among them: in step two, after the contact surfaces of the prefabricated components to be assembled and the assembled prefabricated components are in full contact, in the static equilibrium state of the jack tension, the width of the joints between the contact surfaces of the prefabricated components at n different positions is monitored in real time to obtain _{The joint width monitoring value Z i of the} contact surface between the n prefabricated components to be assembled and the assembled prefabricated component, where i = 1, 2,..., n, because there are two contact surfaces between the prefabricated components to be assembled and the assembled prefabricated components Strip rubber gaskets with exactly the same shape, and the compression of the rubber gasket at the same position is the same. Therefore, the actual compression of the rubber gasket is the initial thickness of the rubber gasket Z ₀ and the actual joint width 1/2 of the measured value.

The impairment of

According to the actual measured value of compression of n rubber gaskets obtained by monitoring, the surface equations are established in the same plane coordinate system corresponding to the centerline micro-segment center point coordinate set Ω of the rubber gaskets, and the joints are calculated according to the coordinates of each point Width and its deformation, and establish a dynamic database Z _{S in} chronological order, and calculate the elastic reaction force of the rubber gasket for all the points in the center line micro-segment center point coordinate set Ω of the rubber gasket

For the elastic reaction force F _i of all points, find the moments on the X-axis and Y-axis of the coordinate system. According to the principle that the sum of the resultant moment and the micro-segment moment is equal, calculate the centroid of the reaction force (X _k , Y _k ) of the rubber gasket The coordinates are obtained by formulas 3 and 4:

Among them: the centroid (X _P , Y _P ) of the jack tension in step 3, the coordinate algorithm is formula 5 and 6:

Among them: in step 4, real-time monitoring of the joint width measurement points corresponding to each jack tension point is carried out, and the monitoring values of the joint width measurement points corresponding to different jack tension points are obtained _{, which is recorded as Z i} , where i=1 ,2,...,n, suppose n jack tension points correspond to n joint width measurement points, set the final control target value of joint width measurement points to Z ₀ , adopt the multi-point coordinated tension method, pass m The method of equal tension for multiple times in succession to achieve the final control goal, the jack tensioning points at n different positions, the tension control value for each time

Among them, i=1, 2,...,n, the jack tension is converted into the jack tension by the jack tension point 1 in different positions, and the jack tension is controlled, and the oil pressure and oil speed of the hydraulic control center are controlled.

Among them: the design of the jack tension hole position of the prefabricated component should meet the following principles:

① When only one set of jack tension holes are provided for a group of components, the position of the tension holes should be at the position of the geometric center of the rubber gasket;

②When a group of components are provided with two sets of jack tension holes, the tension holes should be on both sides of the geometric center of the rubber gasket and on the same straight line;

③When a group of components is provided with three or more sets of jack tension holes, the tension holes should be arranged around the geometric center of the rubber gasket.

Among them: in step 5, due to the different size and position of the jack, the tensile force centroid of the jack does not coincide with the geometric centroid of the rubber gasket, which results in inconsistent compression of the rubber gasket, which makes the centroid of the rubber gasket reaction force and the geometric centroid of the rubber gasket inconsistent. The centroids are not coincident. In order to achieve the goal of coincidence of the counter force centroid of the rubber gasket with the geometric centroid of the gasket, adjust the jack tension of each group so that the jack tension centroid and the rubber gasket counter force centroid are rubber gasket The geometric centroids are symmetrical with each other as the center, so that the reaction force centroid of the rubber gasket has a tendency to gradually move closer to the geometric centroid of the gasket, so that the jack tension centroid is adjusted to correspond to the rubber gasket reaction centroid. The location is symmetrical.

Among them: In step 1, the plane of the component where the rubber gasket is located is captured by the camera equipment to obtain an image of the component, and after the image distortion and tilt distortion are corrected, the information in the image is corrected by manual guidance, and the rubber gasket in the image is identified by image recognition technology. The skeleton contour line of the rubber gasket image and the center line of the skeleton contour line and the center point of the bolt hole are recognized, and any point in the image is selected as the origin to establish a coordinate system, which is defined as the XOY plane coordinate system.

It can be seen from the above content that the tensioning method of prefabricated components based on centroid tracking and seam width control of the present invention has the following effects:

1. Realize that the rubber gasket is evenly compressed during the assembly process of the prefabricated components, and the width of the seam is the same everywhere, so as to improve the assembly accuracy of the large prefabricated components and the construction quality of the prefabricated assembly structure.

2. The tensioning method of prefabricated components based on centroid tracking and seam width control can improve the efficiency of assembly.

3. It can be applied to prefabricated structures such as railway and urban rail transit stations, sections, entrances and exits, air ducts, large-scale underground space development prefabricated structures, underground pipelines and integrated pipe corridor prefabricated structures, urban underground pedestrian passages, underground train tunnels The prefabricated structure and other similar projects constructed by the prefabricated assembly method have extensive promotion significance.

The details of the present invention can be obtained from the following description and the accompanying drawings.

Description of the drawings

Figures 1A and 1B show schematic diagrams of one of the components of the prefabricated component tensioning method based on centroid tracking and slit width control of the present invention.

Fig. 1C shows a partially enlarged schematic diagram of Fig. 1B.

Fig. 1D and Fig. 1E show the key contour information in Fig. 1B and the schematic diagram of the compression deformation relationship of the seal gasket after partial enlargement.

Figure 2 shows the key contour information calculation point set for the calculation of the gasket reaction force and the positional relationship diagram of the jack force centroid, the gasket reaction force centroid and the gasket geometric centroid.

Fig. 3 shows the principle schematic diagram of the prefabricated component tensioning method based on centroid tracking and slit width control of the present invention.

4A and 4B show schematic diagrams of the reasonable arrangement range of the single-hole jack of the present invention.

Figures 5A and 5B show schematic diagrams of the reasonable arrangement range of the double-hole jack of the present invention.

6A and 6B show schematic diagrams of the reasonable arrangement range of the three-hole and multi-hole jacks of the present invention.

Reference signs:

107 is the center point of the micro-segment of the center line of the rubber gasket; 13 is the micro-segment of the rubber gasket; 1 is the jack tension point; 8, 9, 10 are the joint width measurement points; 11 is the geometric center of the rubber gasket; 12 Rubber gasket reaction force centroid; 14 is the jack tension centroid.

Detailed ways

Referring to Figures 1A to 6B, the tensioning method of prefabricated components based on centroid tracking and seam width control of the present invention is shown.

The prefabricated component tensioning method based on centroid tracking and seam width control includes the following steps:

Step 1: Determine the center point coordinate set of the micro-segment center line of the rubber gasket and the center coordinate set of the component bolt hole location. The image information can be used to identify the center point coordinate set of the rubber gasket center line micro-segment center point and the component bolt hole center coordinate set .

Specifically, the plane of the component B-2 where the rubber gasket is located is photographed by the camera equipment. See Figure 1D and Figure 1E to obtain the image of the component. After the image distortion and tilt distortion are corrected, the information in the image is corrected by manual guidance, and the image The recognition technology recognizes the skeleton outline of the rubber gasket in the image, and recognizes the center line of the skeleton outline 3 of the rubber gasket image and the center point of the bolt hole position 1, and selects any point in the image as the origin to establish a coordinate system , For the convenience of use, the corner of the image can be selected as the coordinate origin to establish a two-dimensional plane coordinate system, which is defined as the XOY plane coordinate system, as shown in Figure 2.

The image processing technology is used to establish the center point coordinate set Ω107, the bolt hole position center point coordinate set Π101 and the component structure outer contour point coordinate set Γ103 of the centerline micro-segment of the rubber gasket, and use the computer database to store them. If there are two or more rubber gaskets, establish a set of the center point coordinates of the micro-segment centerline of the rubber gaskets and store them in a computer database.

Step 2: Obtain the geometric centroid of the rubber gasket and the counter force centroid of the rubber gasket.

(1) Calculate the geometric centroid of the rubber gasket. Since any point of the center point coordinate set Ω of the rubber gasket center line micro-segment represents a square rubber gasket micro-segment, the length of each rubber gasket micro-segment corresponds to the length of the gasket. The width λ is the same length, and the area of the square rubber gasket micro-segment is A ₀ =λ ² . For the coordinates and areas of all points in the center line of the rubber gasket in the micro-segment center point coordinate set Ω, calculate the area distance between the X-axis and the Y-axis to calculate the geometric centroid K of the rubber gasket. The micro-segment center point coordinate set Ω has n The coordinates of the geometric centroid K on the XOY plane are obtained by formulas 1 and 2:

(2) Calculate the centroid of the reaction force of the rubber gasket, and use laser or other measurement technology to monitor the distance between the contact surface of the prefabricated component to be assembled and the prefabricated component in real time. When the contact surface of the prefabricated component to be assembled and the prefabricated component are in full contact Then, in the static equilibrium state of jack tensioning, real-time monitoring of the joint width between the contact surfaces of the prefabricated components at n different positions is used to obtain the joint width monitoring of the contact surfaces of the n prefabricated components to be assembled and the assembled prefabricated components Value Z _i , where i=1, 2,...,n, because there are two rubber gaskets with exactly the same shape on the contact surface of the prefabricated component to be assembled and the prefabricated component that has been assembled, and the compression of the rubber gasket at the same position Therefore, the actual compression of the rubber gasket _{is 1/2 of the initial thickness Z 0} of the rubber gasket and the measured value of the actual joint width, that is,

The impairment of

According to the actual measured value of compression of n rubber gaskets obtained by monitoring, the surface equation is established in the same plane coordinate system corresponding to the center point coordinate set Ω of the center line of the rubber gasket, and the joint is calculated according to the coordinates of each point Width and deformation amount, and establish a dynamic database Z _{S in} chronological order, so that each subsequent tensioning can be retrieved from the database for use (also can be measured by actually measuring the seam width at three non-collinear points at the structural contour seam determining a compression gasket plane, corresponding to the same (x _{_i,} y _i) and the coordinate position information of the plane according to the position on the plane of the gasket (x _{_i,} y _i) and the coordinate position information of the compression and the compression plane between the plane According to the similar triangle rule, determine the center point (x _i , y _i ) of the center line of each gasket by inverse calculation to determine the joint width Z _i value).

1) According to the experimental data of the rubber gasket material used in the prefabricated component, establish the corresponding deformation modulus quantity set E _{s of the} rubber gasket under different compression amounts, and use the computer database to store it.

2) Calculate the elastic reaction force of the rubber gasket for all the points in the center point coordinate set Ω of the centerline of the rubber gasket

For the elastic reaction force F _i of all points, the torque is calculated on the X-axis and Y-axis of the coordinate system. According to the principle that the sum of the resultant moment and the micro-segment moment is equal, _{the coordinate of the reaction force centroid K F} of the rubber gasket is calculated by formula 3 and 4 get:

The centroid of the reaction force of the rubber gasket changes dynamically, and the coordinates of the centroid of the reaction force of the rubber gasket are different under different tension balance states.

Step 3: Calculate the centroid of jack tension.

When prefabricated assembly, typically multi-point and cooperative Tension Tension are different, the number of points is assumed that tension is n, the tensile force tensioning the point referred to as P _i, where i = 1,2, ..., n . _{The centroid K P of the} jack tension is calculated by formulas 5 and 6:

Step 4: Tension of prefabricated components based on seam width control.

Refer to Figure 2, when the prefabricated components are assembled, the joint width measurement point 4 corresponding to each jack tension point 3 is monitored in real time, and the monitoring value of the joint width measurement point corresponding to different jack tension points is obtained, which is marked as Z _i , where i=1, 2,...,n, assuming that n jack tension points correspond to n joint width measurement points. Assuming that the final control target value of the joint width measurement point is Z ₀ , the multi-point coordinated stretching method is adopted, and the final control target is reached through m consecutive times of equal tensioning. Each jack tensioning point in n different positions The secondary tension control value

Where i=1, 2,...,n. The jack tension is converted into the jack tension by the jack tension point 3 in different positions and the jack tension is controlled, and the oil pressure and oil speed of the hydraulic control center are controlled.

In addition, the position of the jack tension hole of the prefabricated component should be set as far as possible to meet the following principles:

① When only one set of jack tension holes are provided for a group of components, the position of the tension holes should be designed at the position of the geometric center of the rubber gasket, as shown in Figure 4A and Figure 4B.

②When a group of components are equipped with two sets of jack tension holes, the tension holes should be designed on both sides of the geometric center of the rubber gasket and on the same straight line, as shown in Figure 5A and Figure 5B.

③When a group of components is equipped with three or more sets of jack tension holes, the tension holes should be arranged around the geometric center of the rubber gasket, as shown in Figure 6A and Figure 6B.

Step 5: Tension of prefabricated components based on centroid tracking.

The jack tension point of the prefabricated component should be as close as possible to the joint width measurement point. However, due to various factors, it is impossible to guarantee that all the joint width measurement points correspond to the jack tension point position. It is usually necessary to use the measured data of the measurement point. To calculate the joint width of the jack tensioning point, the tensioning of the prefabricated component based on the slit width control may cause tension quality and efficiency problems. In this case, the prefabricated component tensioning method based on centroid tracking can be used to complete the assembly tensioning work.

As shown in Figure 3, due to the different size and position of the jack, the tensile force centroid 14 of the jack does not coincide with the geometric centroid 12 of the rubber gasket, resulting in inconsistent compression of the gasket, making the rubber gasket reaction force centroid 11 and The geometric centroid 12 of the rubber gasket also does not overlap. In order to achieve the goal that the reaction force centroid 11 of the rubber gasket coincides with the geometric centroid 12 of the gasket (in this state, the compression thickness of each position of the gasket is the same, which means that the joints are different. The width of the seam is the same to achieve the ideal state of assembly.) The jack tension of each group can be adjusted to make the jack tension centroid 14, the rubber gasket reaction force centroid 11, and the rubber gasket geometric centroid 12 as the center symmetrical to each other, as shown in the figure The positions shown by a and a'in the middle can make the reaction force centroid 11 of the rubber gasket gradually move along the line aa' between 11 and 14 toward the geometric centroid 12 of the gasket. When the jack tension is adjusted, the deformation of the rubber gasket will also change, and the position of the reaction force centroid 11 will change accordingly to the position b'. By adjusting the jack tension, the jack tension centroid 14 will be correspondingly changed. Adjust to b which is symmetrical to the center 11 of the reaction force of the rubber gasket. By repeating the above centroid tracking method, the reaction force centroid 11 of the rubber gasket is continuously approaching the position of the geometric centroid 12 of the rubber gasket along a'→b'→c'→d', and the centroid 14 of the jack tensioning force also keeps following along a'→b'→c'→d' The position of the gasket reaction force centroid 11 changes continuously, and the position of the gasket geometric centroid 12 is continuously approached along a→b→c→d, and finally the jack tension centroid 14, the gasket reaction force centroid 11 and the gasket geometry are finally realized. The three centers of the core 12 overlap, the compression degree of the gasket is the same everywhere, and the joint width is the same when the components are spliced.

During the assembly process of the components, the coordinates of the geometric centroid 12, the reaction force centroid 11, and the jack tension centroid 14 of the rubber gasket are calculated in real time according to the algorithm of step 2 and step 3. By comparing the coordinates of the geometric centroid 12, the reaction force centroid 11, and the jack tension centroid 14 of the gasket, it is necessary to ensure that the coordinates of the reaction force centroid 11 and the jack tension centroid 14 are distributed in the geometry of the gasket. On both sides of the centroid 12, once the coordinates of the reaction force centroid 11 and the jack tension centroid 14 are distributed on the same side of the geometric centroid 12 of the gasket, they can be automatically reminded by the computer program, and the program can be automatically optimized or adjusted manually. , To ensure that the assembly can be completed accurately and with high quality.

Therefore, the advantages of the present invention are:

It is obvious that the above description and record are only examples and are not intended to limit the disclosure, application or use of the present invention. Although the embodiments have been described in the embodiments and described in the drawings, the present invention is not limited to the specific examples illustrated in the drawings and described in the embodiments as the best mode currently considered to implement the teachings of the present invention. The scope of the present invention will include any embodiments falling into the foregoing specification and appended claims.

Claims

A prefabricated component tensioning method based on centroid tracking and seam width control is characterized by including the following steps:

Step 1: Establish the center point coordinate set Ω of the micro-segment center line of the rubber gasket and the center point coordinate set Π of the bolt hole position;

Step 2: Calculate the geometric center of the rubber gasket and the center of reaction force of the rubber gasket respectively;

Step 3: Calculate the centroid of jack tension;

Step 4: Tension of prefabricated components based on seam width control;

Step 5: Tension of prefabricated components based on centroid tracking.
The tensioning method of prefabricated components based on centroid tracking and slit width control according to claim 1, characterized in that: in step 2, any point of the center point coordinate set Ω of the micro-segment center line of the rubber gasket represents A square rubber gasket micro-segment, the length of each rubber gasket micro-segment is the same as the gasket width λ, the area of the square rubber gasket micro-segment is A 0 =λ 2 , the center line micro-segment of the rubber gasket The coordinates and areas of all points in the center point coordinate set Ω are calculated from the X-axis and Y-axis to calculate the geometric centroid K of the rubber gasket. The coordinates of the geometric centroid K on the XOY plane are obtained by formulas 1 and 2:
The prefabricated component tensioning method based on centroid tracking and seam width control according to claim 1, characterized in that: in step 2, after the contact surface of the prefabricated component to be assembled and the assembled prefabricated component are in full contact, the jack is tensioned In a static equilibrium state, by real-time monitoring of the joint width between the contact surfaces of the prefabricated components at n different positions, the joint width monitoring value Z i of the contact surfaces of the n prefabricated components to be assembled and the assembled prefabricated component is obtained, where i =1,2,...,n, because there are two rubber gaskets with exactly the same shape on the contact surface of the prefabricated component to be assembled and the assembled prefabricated component, and the compression amount of the rubber gasket at the same position is the same, therefore, the rubber seal The actual compression of the gasket is the initial thickness Z 0 of the rubber gasket and 1/2 of the measured value of the actual joint width, which is
The impairment of
According to the actual measured value of compression of n rubber gaskets obtained by monitoring, the surface equations are established in the same plane coordinate system corresponding to the centerline micro-segment center point coordinate set Ω of the rubber gaskets, and the joints are calculated according to the coordinates of each point Width and its deformation, and establish a dynamic database Z S in chronological order, and calculate the elastic reaction force of the rubber gasket for all the points in the center line micro-segment center point coordinate set Ω of the rubber gasket
For the elastic reaction force F i of all points, the torque is calculated on the X-axis and Y-axis of the coordinate system. According to the principle that the sum of the resultant moment and the micro-segment moment is equal, the coordinate of the reaction force centroid K F of the rubber gasket is calculated by formula 3 and 4 get:
The prefabricated component tensioning method based on centroid tracking and slit width control according to claim 1, characterized in that: in step 3, the centroid K P of the jack tension force is coordinated by formulas 5 and 6:
The tensioning method of prefabricated components based on centroid tracking and seam width control according to claim 1, characterized in that: in step 4, real-time monitoring of the seam width measurement point corresponding to each jack tensioning point is performed, Obtain the monitoring values of the joint width measurement points corresponding to different jack tension points, and record them as Z i , where i=1, 2,...,n, set n jack tension points corresponding to n joint width measurement points , Set the final control target value of the joint width measurement point to Z 0 , adopt the method of multi-point coordinated tensioning, and achieve the final control target through m consecutive multiple equal tensioning methods, n different jack tensioning points Each tension control value
Among them, i=1, 2,...,n, the jack tension is converted into the jack tension by the jack tension point 3 at different positions, and the jack tension is controlled, and the oil pressure and oil speed of the hydraulic control center are controlled.
The tensioning method of prefabricated component based on centroid tracking and slit width control according to claim 5, characterized in that: the position of the jack tensioning hole of the prefabricated component should meet the following principles:

① When only one set of jack tension holes are provided for a group of components, the position of the tension holes should be at the position of the geometric center of the rubber gasket;

②When a group of components are provided with two sets of jack tension holes, the tension holes should be on both sides of the geometric center of the rubber gasket and on the same straight line;

③When a group of components is provided with three or more sets of jack tension holes, the tension holes should be arranged around the geometric center of the rubber gasket.
The method for tensioning prefabricated components based on centroid tracking and slit width control according to claim 1, characterized in that: in step 5, due to the different sizes and positions of the jacks, the jack tensioning centroids and the geometry of the rubber seals The centroids do not coincide, which results in inconsistent compression of the gasket, so that the reaction force centroid of the rubber gasket does not coincide with the geometric centroid of the rubber gasket, in order to achieve the goal of coincidence of the reaction force centroid of the rubber gasket and the geometric centroid of the gasket. , Adjust the tension of each group of jacks so that the centroid of the jack tension and the centroid of the rubber gasket reaction force are symmetrical with each other around the geometric centroid of the rubber gasket, so that the centroid of the rubber gasket reaction force gradually approaches the geometric shape of the gasket. The direction of the center moves, so that the centroid of the jack tension force is adjusted to be symmetrical to the position of the centroid of the reaction force of the rubber gasket.
The tensioning method of prefabricated components based on centroid tracking and slit width control according to claim 1, characterized in that: in step 1, the plane of the component where the rubber seal is located is photographed by a camera device to obtain an image of the component, and the image After the distortion and tilt distortion are corrected, the information in the image is corrected by manual guidance, the image recognition technology is used to identify the skeleton contour line of the rubber gasket in the image, and the center line of the skeleton contour line of the rubber gasket image and the center point of the bolt hole position For recognition, select any point in the image as the origin to establish a coordinate system, which is defined as the XOY plane coordinate system.