Optimization and Application of Installation Path of Prefabricated Structure in Large-diameter Shield Tunnel
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.
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