摘要
传统盾构隧道施工中存在内部预制构件施工工艺不先进、施工效率低等问题,通过分析盾构隧道预制装配式构件在安装过程中的运动特征,对智能化拼装机器人在隧道内部安装预制构件的路径进一步优化。结合隧道中隔墙安装工程实际情况,路径优化前需要根据构件的特点和拼装机的作业环境,提前规划好内部结构在运输车上的位姿,当构件运输到位后根据右手定则在预制构件上建立坐标系并建立相应的运动方程,选出构件最佳的运动路径,最后根据运动路径对安装机进行进一步优化控制。结果表明:(1)智能拼装机器人能够在隧道内部完成中隔墙和弧形件等预制构件的安装作业,拼装精度能够满足构件的安装需要,油缸的动作执行精度能够达到0.5 mm;(2)通过采用智能拼装机进行施工作业,安装误差由20 mm降低至1 mm,弧形件和中隔墙24 h安装数量分别提高到30块和35块;(3)结合中隔墙的位姿运动方程优化其安装路径,可以提高盾构隧道中隔墙的安装施工效率,提高装配式施工的控制精度。
The traditional shield tunnel construction process has the problems such as unadvanced construction pro⁃cess of prefabricated members and low efficiency of construction.By analyzing the motion characteristics of the pre⁃fabricated members of shield tunnel in the installation process,the path of intelligent erection robot during installa⁃tion of prefabricated members in the tunnel has been further optimized.According to practical installation of center diaphragms in actual tunnel projects,it is determined that the position and orientation of the internal structure on the transport vehicle must be planned according to the characteristics of the members and the working environment of the erector before path optimization is done.After the member is transported to its position,coordinate system must be created on the prefabricated member by using the right hand rule and the corresponding equation of motion must be established,to select the optimal motion path.At last,the erector control is further optimized according to the motion path.As the results indicate:(1)The intelligent center diaphragm erection robot can accomplish installa⁃tion of the prefabricated members such as center diaphragm and arcuate member in a tunnel,its erection accuracy can meet the member installation requirements,and the motion execution accuracy of oil cylinder is up to 0.5 mm.(2)In the construction process that uses an intelligent erector,the installation error is reduced from 20 mm to 1 mm,and the number of arcuate members and center diaphragms installed in 24 h is increased to 30,35 respectively.(3)The installation path is optimized by using the position and orientation of center diaphragm and the equation of mo⁃tion,to increase the center diaphragm installation efficiency in shield tunnel and enhance the control accuracy of construction with prefabricated members.
作者
郇昊霖
李培楠
刘俊
宋兴宝
秦元
寇晓勇
翟一欣
XUN Haolin;LI Peinan;LIU Jun;SONG Xingbao;QIN Yuan;KOU Xiaoyong;ZHAI Yixin(School of Urban Railway Transportation,Shanghai University of Engineering Science,Shanghai 201620;College of Environmental Science and Engineering,Donghua University,Shanghai 201620;Shanghai Tunnel Engineering Co.,Ltd.,Shanghai 200032)
出处
《现代隧道技术》
CSCD
北大核心
2024年第1期236-244,共9页
Modern Tunnelling Technology
基金
上海市科技创新行动计划社会发展科技攻关项目(21DZ1201105)
中央高校基本科研业务费专项资金资助项目(21D111320).
关键词
大直径盾构隧道
预制结构
安装路径优化
坐标变换
中隔墙拼装
Large-diameter shield tunnel
Prefabricated structure
Installation path optimization
Coordinate transformation
Center diaphragm erection
