为解决传统盾构隧道中隔墙预制拼装中存在的拼装精度低、施工效率低、人工作业风险高、多工序协同干扰大等问题，通过智能化装备设计与研究，结合双跨式门架结构设计思路，研制一台可实现中隔墙一键智能化拼装的门架式中隔墙安装机。该装备能有效解决中隔墙拼装各工序的高效协同作业、拼装作业与盾构掘进施工的交通物流干扰等问题，具有自动运算分析与决策执行、视觉相机识别中心孔定位、基于双六轴机械臂与主动视觉姿态控制、多传感信息融合定位、重载伺服位移反馈控制等智能拼装技术，并在上海轨道交通市域线机场联络线JCXSG-11标工程首次应用，取得了良好的应用效果。应用结果表明： 1）安装机应用符合规范及设计要求，系统控制精度与同步精度达到0.5 mm，中隔墙拼装精度达到±2 mm，实现了高精度拼装； 2）安装机通过智能化控制技术，实现了一键式操作，每循环工作耗时38 min，施工效率较传统现浇提高10倍以上； 3）门架式中隔墙智能安装机工作性能稳定可靠，装配式预制构件成品拼装质量可控，能改善施工环境，实现快速与绿色施工。
The
conventional precast assembly of the middle partition wall of shield tunnels
has many disadvantages, such as low assembly accuracy and construction
efficiency, high manual operation risk, and large cooperative interference of
multiple processes. Therefore, based on the design concept of the doublespan
door frame structure, an installation machine for the door frametype middle partition wall is developed for intelligent assembling
of the middle partition wall. The equipment can effectively realize efficient
collaborative work of various processes related to partition wall assembly. In
addition, it minimizes the traffic and logistics interference in the assembly
operation and shield tunneling. The equipment has multiple technical functions,
such as automatic operation analysis and decision execution, center hole
positioning based on visual camera identification, two sixaxis robot arms with active visualbased
attitude control, multisensor information fusion positioning, and heavy servo
displacement feedback control. It was employed for the first time in the JCXSG11 Bid project of the Shanghai Metro Airport Link, and good
application results were obtained: (1) The employment of the equipment meet the
specification and design requirements; the system control accuracy and
synchronization accuracy both reach 0.5 mm, and the assembling accuracy of the
middle partition wall reach ±2 mm, realizing high
precision assembling. (2) The equipment realizes onebutton
operation through intelligent control technology, realizing 38 min per cycle,
which improves the construction efficiency by more than ten times compared with
the traditional castinplace
methods. (3) The operating performance of the intelligent installation machine
for the door frame type middle partition wall is stable and reliable, and the
quality of the finished assembly of the prefabricated component is
controllable, which can improve the construction environment and achieve fast
and green construction.
