Abstract:  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 doublespan door frame structure, an installation machine for the door frametype 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 sixaxis robot arms with active visualbased attitude control, multisensor information fusion positioning, and heavy servo displacement feedback control. It was employed for the first time in the JCXSG11 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 onebutton operation through intelligent control technology, realizing 38 min per cycle, which improves the construction efficiency by more than ten times compared with the traditional castinplace 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.

Key words: shield tunnel, middle partition wall, prefabrication and assembly, high precision, synchronous construction, intelligent installation machine