盾构隧道内部结构穿行式弧形件安装机设计与应用  

Design and Application of a Prefabricated Component Installation Machine for Shield Tunnel Internal Structures

作　　者：陈瑞祥 曾垂刚 李凤远 韩伟锋 胡新朋 王玉祥 CHEN Ruixiang;ZENG Chuigang;LI Fengyuan;HAN Weifeng;HU Xinpeng;WANG Yuxiang(State Key Laboratory of Shield Machine and Boring Technology,Zhengzhou 450000,Henan,China;China Railway Tunnel Group Co.,Ltd.,Guangzhou 511458,Guangdong,China;China Railway Tunnel Stock Co.,Ltd.,Zhengzhou 450000,Henan,China)

机构地区：[1]盾构及掘进技术国家重点实验室,河南郑州450000 [2]中铁隧道局集团有限公司,广东广州511458 [3]中铁隧道股份有限公司,河南郑州450000

出　　处：《隧道建设（中英文）》2023年第3期505-513,共9页Tunnel Construction

基　　金：中铁隧道集团科技创新计划(隧研合2021-07,隧研合2022-11)。

摘　　要：为解决隧道内部弧形件传统安装方式姿态调整困难、安装精度难以保证、安装过程占用物料运输通道等问题,以实现弧形件安装的自动化、智能化为目标,通过分析装配式弧形件的结构特点和装配施工工艺要求,基于工业机器人设计理念研制出一种全液压驱动的6自由度穿行式弧形件安装机。该安装机具有承载能力强、动作精度高、适应隧道复杂环境等特点,并成功应用于上海机场联络线工程。本研究结合工程实际,先根据隧道作业环境和弧形件位姿调整要求完成弧形件安装机的详细结构设计,再结合装备特点和弧形件安装作业环境合理规划姿态调整方案;然后,应用D-H参数法建立弧形件安装机正运动方程,并通过运动学分析推导各执行元件动作量与目标姿态的关系方程。结果表明:1)该装备的结构形式和姿态调整方案可以满足隧道内部超大、重型弧形件的高精度安装需求,油缸动作执行精度可达到0.5 mm;2)安装误差由20 mm减小至1 mm,单块安装时间由120 min减少至22 min;3)该装备的应用提高了弧形件安装的施工质量和效率,降低了人员占用和劳动强度,提高了装配式隧道内部结构施工的智能化水平。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.

关 键 词：盾构隧道 弧形件安装机 装配式建造 结构设计 运动学 位姿调整 

分 类 号：U45[建筑科学—桥梁与隧道工程]