Abstract:

To address the problems in the conventional installation of prefabricated parts inside shield tunnels, such as difficult posture adjustments, installation inaccuracy, and material obstruction, and to realize automatic and intelligent installation of prefabricated components, the structural characteristics and technological requirements of prefabrication are analyzed in this study. An installation machine for prefabricated parts with six degrees of freedom and full hydraulic drive is developed based on the design concept of an industrial robot. The equipment shows strong bearing capacity, high action accuracy, and adaptability to complex tunnel environments, and was demonstrated at the Shanghai Airport Tie Line project. The overall equipment design is carried out in combination with the actual project. Based on the characteristics of the equipment and the installation environment, the posture adjustment scheme is reasonably planned. Moreover, using the D-H parametric method, the positive motion equation for the prefabricated component installation machine is established, and the relation between the action amount of each actuator and the target attitude is derived through kinematics analysis. The results show the following: (1) The structure and posture adjustment scheme of the equipment can meet the requirements for highprecision installation of superlarge and heavy prefabricated parts; the actuating accuracy of the cylinder reaches 0.5 mm. (2) The installation error is reduced from 20 to 1 mm, and the installation time of a single block is reduced from 120 to 22 min. (3) The equipment improves the quality and efficiency of prefabricated component installation, reduces manpower and labor intensity, and improves the intelligence level for internal structure construction of prefabricated tunnels.

Key words:

shield tunnel, prefabrication installation machine; fabricated construction, structural design, kinematics, posture adjustment