Superimposed assembly type subway station side wall intelligent assembling system and method

Abstract

The invention provides an intelligent splicing system and method for side walls of a laminated assembly type subway station. The system comprises a splicing trolley, a side wall assembly trolley and a side wall assembly trolley, a force sensor subsystem; a displacement sensor subsystem; a tilt angle sensor subsystem; an identification positioning subsystem; a control module; the force sensor subsystem, the displacement sensor subsystem, the tilt angle sensor subsystem and the identification positioning subsystem are all connected with the control module; the control module is configured to respond to data collected by the force sensor subsystem, the displacement sensor subsystem, the tilt angle sensor subsystem and the recognition positioning subsystem, and control the assembly trolley to adjust the pose of the side wall to be assembled; according to the intelligent splicing system for the side walls of the laminated assembly type subway station, manual operation can be replaced, automatic splicing of the side walls of the laminated assembly type subway station is achieved, the labor cost is reduced, the side wall splicing construction efficiency and precision are improved, and the manual operation risk, the structure leakage risk and the safety risk are reduced.

Description

Technical Field

[0001] This invention belongs to the field of subway station assembly construction technology, specifically relating to an intelligent assembly system and method for composite prefabricated subway station side walls. Background Technology

[0002] Prefabricated subway stations are becoming a development trend in subway construction. By disassembling the station structure into various components for factory prefabrication and realizing prefabricated construction on site, the level of mechanized operation can be significantly improved, thereby improving quality, accelerating construction progress, and reducing labor input and material usage.

[0003] Currently, prefabricated metro stations are widely constructed using assembly trolleys. After the prefabricated components reach the required strength, they are transported to the site by specialized vehicles. A gantry crane is used to lift each component for posture adjustment and alignment. The assembly trolley is then used to temporarily fix and fine-tune the components, completing the assembly of components such as side walls, central slabs, columns, and longitudinal beams.

[0004] In the assembly of the side walls of prefabricated subway stations, manual operation of an assembly trolley is required to insert the side walls into the pre-embedded H-shaped steel slots. This process is difficult, requires high precision, and has low construction efficiency. Furthermore, large misalignments during assembly can easily lead to stress concentration and water leakage. The experience of the construction workers directly affects the assembly quality, and there is a lack of intelligent methods to further improve construction efficiency and precision. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides an intelligent assembly system and method for composite prefabricated subway station side walls, which enables automated assembly of composite prefabricated subway station side walls, improving assembly accuracy and efficiency.

[0006] The technical solution of this invention is: a composite prefabricated subway station sidewall intelligent assembly system, comprising:

[0007] The assembly trolley includes a clamping device, a wall-hanging device, a positioning rod, a side wall receiving seat, a lifting device, a push-pull device, and a side wall receiving platform disposed on one side thereon.

[0008] The force sensor subsystem includes a push-pull force sensor for detecting the force between the push-pull device and the side wall, a clamping force sensor for detecting the force between the clamping device and the side wall, and a lifting force sensor for detecting the lifting force of the lifting device.

[0009] The displacement sensor subsystem includes a push-pull displacement sensor for detecting the telescopic displacement of the push-pull device, a clamping displacement sensor for detecting the clamping displacement of the clamping device, and a lifting displacement sensor for detecting the lifting displacement of the lifting device.

[0010] The tilt sensor subsystem includes tilt sensors for real-time detection of the horizontality and verticality of the sidewalls;

[0011] The identification and positioning subsystem includes a first camera for detecting the relative position of the upper surfaces between adjacent sidewalls, a second camera for locating the position of the sidewall installation section, a third camera for detecting the relative position of the bottom H-beam and H-beam channel of the sidewall, and a fourth camera for detecting the height of the gap between the lower surface of the sidewall and the surface of the H-beam channel.

[0012] The control module is connected to the force sensor subsystem, displacement sensor subsystem, tilt sensor subsystem, and identification and positioning subsystem. The control module is configured to control the assembly trolley to adjust the position of the side wall to be assembled in response to the data collected by the force sensor subsystem, displacement sensor subsystem, tilt sensor subsystem, and identification and positioning subsystem.

[0013] Furthermore, the tilt sensor subsystem includes at least two tilt sensors, which are movably mounted on the assembly trolley frame and pushed out to rest against the backwater surface of the side wall during measurement.

[0014] Furthermore, the first camera and the second camera are mounted at at least one position on the upper and middle parts of the frame of the assembly trolley near the assembled side wall;

[0015] The third camera consists of multiple cameras arranged along the length of the side wall at the receiving end of the assembly trolley side wall, and is used to detect the relative positions of multiple H-beams and H-beam channels at the bottom of the side wall respectively.

[0016] The fourth camera consists of at least two cameras, which are installed on both sides of the bottom of the assembly trolley frame.

[0017] Furthermore, the control module is configured as follows:

[0018] Based on the feedback from the force sensor subsystem and the displacement sensor subsystem, closed-loop control of the force and displacement of the push-pull device, the clamping device and the lifting device is realized to prevent interference and damage to the adjustment devices when adjusting the side wall posture.

[0019] Furthermore, the side wall receiving platform is located on one side of the bottom of the assembly trolley; the side wall receiving platform provides temporary support for the side wall before the side wall is clamped and fixed by the clamping device.

[0020] Furthermore, the positioning rod is disposed adjacent to the clamping device on one side of the assembly trolley; the positioning rod limits one side of the side wall during the process of the side wall being lowered to the side wall receiving platform.

[0021] Furthermore, the force sensor subsystem includes:

[0022] Two push-pull force sensors are mounted on the two push-pull devices;

[0023] Four clamping force sensors are installed on the two sets of clamping devices;

[0024] Two lifting force sensors are installed on the two lifting devices.

[0025] The intelligent assembly method for the side walls of composite prefabricated subway stations includes the following steps:

[0026] Side wall reception and fixing: The gantry crane sends the side wall into the fixing position of the assembly trolley, and fixes the side wall in conjunction with the clamping device and wall lifting device of the assembly trolley;

[0027] Sidewall attitude adjustment: Based on the sidewall attitude data detected by the tilt sensor subsystem, the push-pull device and the lifting device are controlled to move in conjunction or individually to adjust the pitch angle, yaw angle and roll angle of the sidewall.

[0028] Side wall identification, positioning and installation steps: Based on the visual data of the identification and positioning subsystem, control the assembly trolley to move the side wall above the target installation position, and lower the side wall so that the H-beam at its bottom falls into the H-beam groove of the installed structure;

[0029] Installation accuracy detection: Based on the detection of the height difference between the upper surfaces of adjacent side walls by the identification and positioning subsystem, the height of the side walls is adjusted to make the height difference within a preset range in order to complete the assembly of the side walls.

[0030] Furthermore, the intelligent assembly method for the side walls of the composite prefabricated subway station also includes the following steps:

[0031] Gap data acquisition: Based on the identification and positioning subsystem, the gap height between the lower surface of the side wall and the surface of the H-shaped steel channel is detected to guide the gap filling construction.

[0032] Furthermore, in the aforementioned intelligent assembly method for the sidewalls of a prefabricated subway station, the sidewall posture adjustment step includes:

[0033] The two push-pull devices at the bottom of the assembly trolley are linked to adjust the pitch angle of the side wall;

[0034] The two push-pull devices at the bottom of the assembly trolley are controlled to move individually to adjust the yaw angle of the side wall;

[0035] Control the two lifting devices on the upper part of the assembly trolley to move individually to adjust the rolling angle of the side wall.

[0036] The beneficial effects of this invention are:

[0037] (1) In this invention, the intelligent assembly system for the side wall of the composite prefabricated subway station can replace manual operation, realize the automatic assembly of the side wall of the composite prefabricated subway station, reduce labor costs, improve the efficiency and accuracy of side wall assembly construction, and reduce the risks of manual operation, structural leakage and safety risks.

[0038] (2) Use visual cameras and tilt sensors to measure and control the installation accuracy, replace manual inspection and control, improve inspection efficiency, reduce labor costs, and avoid errors caused by manual inspection, thus ensuring inspection accuracy. Attached Figure Description

[0039] Figure 1 This is a schematic diagram of the intelligent assembly system for the side walls of a composite prefabricated subway station in this invention.

[0040] Figure 2 This is one of the structural schematic diagrams of the assembly trolley in this invention.

[0041] Figure 3 This is the second structural schematic diagram of the assembly trolley in this invention. Detailed Implementation

[0042] Various exemplary embodiments of the invention will now be described in detail with reference to the accompanying drawings. The descriptions of the exemplary embodiments are merely illustrative and are in no way intended to limit the invention or its application or use. The invention can be embodied in many different forms and is not limited to the embodiments described herein. These embodiments are provided to make the invention thorough and complete, and to fully express the scope of the invention to those skilled in the art. It should be noted that, unless otherwise specifically stated, the relative arrangement of components and steps, the composition of materials, numerical expressions, and values ​​set forth in these embodiments should be interpreted as merely exemplary and not as limiting.

[0043] The terms "first," "second," and similar words used in this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different parts. Words such as "including" or "comprising" mean that the element preceding the word encompasses the element listed after it, without excluding the possibility of encompassing other elements. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0044] like Figures 1 to 3 As shown, a composite prefabricated subway station sidewall intelligent assembly system is disclosed, comprising:

[0045] The assembly trolley 10 includes a clamping device 1, a wall-hanging device 2, a positioning rod 3, a side wall receiving seat 4, a lifting device 5, a push-pull device 6, and a side wall receiving platform 7, all located on one side of the assembly trolley 10. The assembly trolley 10 utilizes existing technology, and its specific structure will not be described in detail.

[0046] The force sensor subsystem includes a push-pull force sensor for detecting the force between the push-pull device and the side wall 20, a clamping force sensor for detecting the force between the clamping device and the side wall 20, and a lifting force sensor for detecting the lifting force of the lifting device.

[0047] The displacement sensor subsystem includes a push-pull displacement sensor for detecting the telescopic displacement of the push-pull device, a clamping displacement sensor for detecting the clamping displacement of the clamping device, and a lifting displacement sensor for detecting the lifting displacement of the lifting device.

[0048] The tilt sensor subsystem includes tilt sensors for real-time detection of the horizontality and verticality of the sidewall 20;

[0049] The identification and positioning subsystem includes a first camera 30 for detecting the relative position of the upper surfaces between adjacent sidewalls, a second camera 40 for locating the position of the sidewall installation section, a third camera 50 for detecting the relative position of the bottom H-beam and H-beam channel of the sidewall 20, and a fourth camera 60 for detecting the height of the gap between the lower surface of the sidewall 20 and the surface of the H-beam channel.

[0050] The control module, force sensor subsystem, displacement sensor subsystem, tilt sensor subsystem, and identification and positioning subsystem are all connected to the control module; the control module is configured to control the assembly trolley to adjust the position of the side wall 20 to be assembled in response to the data collected by the force sensor subsystem, displacement sensor subsystem, tilt sensor subsystem, and identification and positioning subsystem.

[0051] The intelligent assembly system for the side walls of the prefabricated subway station described in the above embodiments can replace manual labor, realize the automatic assembly of the side walls of the prefabricated subway station, reduce labor costs, improve the efficiency and accuracy of side wall assembly construction, and reduce the risks of manual labor, structural leakage, and safety risks. It uses vision cameras and tilt sensors to measure and control the installation accuracy, replacing manual inspection and control, improving inspection efficiency, reducing labor costs, and avoiding errors caused by manual inspection, thus ensuring inspection accuracy.

[0052] In some embodiments, the tilt sensor subsystem includes at least two tilt sensors that are movably mounted on the assembly trolley frame and pushed out to rest against the backwater surface of the side wall during measurement.

[0053] As an example of a tilt sensor subsystem, the tilt sensor subsystem includes six high-precision dual-axis tilt sensors. Two of the six high-precision dual-axis tilt sensors are symmetrically arranged at corresponding positions on the upper, middle, and lower parts of the sidewall and the frame of the assembly trolley 10. The purpose of this distributed arrangement is to acquire attitude data of multiple key points on the backwater surface of the sidewall, so as to obtain a more comprehensive overall attitude of the sidewall and eliminate measurement errors caused by local deformation. The data from multiple sensors are used to calculate the current pitch angle, roll angle, and yaw angle of the sidewall through a preset averaging algorithm.

[0054] As an example of tilt sensor installation, each tilt sensor is mounted at the end of an electric actuator or linear module. In the non-measuring state, the tilt sensor is retracted and locked within the frame, well protected from damage by collision with side walls or other objects. When measurement is required, the control module issues a command to drive the electric actuator or linear module to smoothly extend the tilt sensor, ensuring that the tilt sensor's measuring surface is tightly and firmly attached to the backwater surface of the side wall, thus ensuring the accuracy of the measurement reference.

[0055] In some embodiments, the first camera and the second camera are mounted at at least one position on the upper and middle parts of the frame of the assembly trolley near the assembled side wall;

[0056] The third camera consists of multiple cameras arranged along the length of the side wall at the receiving point of the assembly trolley side wall, used to detect the relative positions of multiple H-beams and H-beam channels at the bottom of the side wall respectively;

[0057] The fourth camera consists of at least two cameras, which are installed on both sides of the bottom of the assembly trolley frame.

[0058] As an example of the identification and positioning subsystem, a first camera 30 is mounted on the upper part of the assembly trolley 10 frame to detect the longitudinal height difference between the upper edge of the side wall to be assembled and the upper edge of the already assembled side wall. This data is fed back to the control module for final height adjustment before the side wall is lowered, ensuring that the upper surfaces of adjacent walls are flush. A second camera 40 is mounted in the middle of the assembly trolley 10 frame. By identifying the edge of the already installed side wall or preset positioning marks, it determines the approximate area of ​​the target wall section that the side wall to be assembled needs to be moved to, guides the assembly trolley for initial movement and positioning, and measures the gap width during assembly. This is used for final lateral adjustment before the side wall is lowered, ensuring that the joints of adjacent walls are uniform. The third camera 50 is mounted on the frame of the assembly trolley 10. The number of third cameras 50 is twice that of the H-beams. Two third cameras 50 correspond to the two sides of each H-beam, respectively, and are used to detect the relative positions of multiple H-beams at the bottom of the sidewall and the H-beam channels on the installed structure. After the sidewall is lifted and moved horizontally above the H-beam channels, these cameras take vertical downward shots, capturing real-time images of the H-beams and H-beam channels below. Through image recognition technology, the deviations in the front-back and left-right directions between the bottom of each H-beam and the corresponding steel channel opening are calculated. Based on these deviation data, the sidewall is moved and adjusted until all H-beams are precisely aligned with their respective steel channels, and the deviation values ​​are within the allowable range. After the sidewall is assembled in place, the fourth camera 60 detects the gap height value between the lower surface of the sidewall 20 and the surface of the H-beam channel and sends it to the control module. After receiving the gap height value, the control module displays it in real-time on the monitor, guiding the on-site fabrication of steel plates to fill the gaps, thus completing the sidewall assembly construction.

[0059] In some embodiments, the control module is configured to: realize closed-loop control of the force and displacement of the push-pull device, clamping device, and lifting device based on feedback from the force sensor subsystem and the displacement sensor subsystem, so as to prevent interference and damage to each adjustment device when adjusting the side wall attitude; the system presets safety force thresholds for the push-pull device, clamping device, and lifting device, and if the force of the push-pull device, clamping device, and lifting device exceeds the corresponding preset safety force threshold when adjusting the side wall attitude, the adjustment is stopped immediately and an early warning is issued.

[0060] In some embodiments, such as Figure 3 As shown, the side wall receiving platform 7 is located on one side of the bottom of the assembly trolley 10; the side wall receiving platform 7 provides temporary support for the side wall 20 before the side wall is clamped and fixed by the clamping device.

[0061] In some embodiments, such as Figure 2As shown, the positioning rod 3 and the clamping device 1 are arranged adjacent to each other on one side of the assembly trolley 10; the positioning rod 3 limits one side of the side wall 20 during the process of lowering the side wall 20 to the side wall receiving platform 7; specifically, during the process of lowering the side wall 20 to the side wall receiving platform 7, the outer surface of the side wall 20 is attached to the positioning rod 3 to limit the side wall 20 in the horizontal plane.

[0062] In some embodiments, the force sensor subsystem includes: two push-pull force sensors disposed on two push-pull devices; four clamping force sensors disposed on two sets of clamping devices; and two lifting force sensors disposed on two lifting devices.

[0063] As an example of a force sensor subsystem, a push-pull force sensor is directly connected in series between the drive rod of the push-pull device and the push plate on the back surface of the contact side wall. This installation method can directly and without loss detect the positive force output by the push-pull device to the side wall. In the two sets of clamping devices, a clamping force sensor is installed at the force application point of each of the two clamping arms of each set of clamping devices. The lifting force sensor is installed between the piston rod of the lifting cylinder and the upper frame of the assembly trolley 10.

[0064] In some embodiments, a method for intelligent assembly of composite prefabricated subway station sidewalls is disclosed, including the following steps:

[0065] Side wall reception and fixing: The gantry crane sends the side wall into the fixing position of the assembly trolley, and fixes the side wall in conjunction with the clamping device and wall lifting device of the assembly trolley;

[0066] Sidewall attitude adjustment: Based on the sidewall attitude data detected by the tilt sensor subsystem, the push-pull device and the lifting device are controlled to move in conjunction or individually to adjust the pitch angle, yaw angle and roll angle of the sidewall.

[0067] Side wall identification, positioning and installation steps: Based on the visual data of the identification and positioning subsystem, control the assembly trolley to move the side wall above the target installation position, and lower the side wall so that the H-beam at its bottom falls into the H-beam channel of the installed structure;

[0068] Installation accuracy detection: Based on the identification and positioning subsystem, the height difference between the upper surfaces of adjacent side walls is detected, and the height of the side walls is adjusted to make the height difference within a preset range in order to complete the assembly of the side walls.

[0069] In some embodiments, the intelligent assembly method for the side walls of a composite prefabricated subway station further includes the following steps:

[0070] Gap data acquisition: The gap height between the lower surface of the side wall and the surface of the H-shaped steel channel is detected by the identification and positioning subsystem to guide the gap filling construction.

[0071] In some embodiments, the sidewall attitude adjustment step includes:

[0072] The two push-pull devices at the bottom of the assembly trolley are linked to adjust the pitch angle of the side wall;

[0073] The two push-pull devices at the bottom of the assembly trolley are controlled to move individually to adjust the yaw angle of the side wall;

[0074] Control the two lifting devices on the upper part of the assembly trolley to move individually to adjust the rolling angle of the side wall.

[0075] Specifically, during the sidewall attitude adjustment process, the control module, based on real-time data fed back by the tilt sensor, coordinates and controls the motion modes of different actuators to achieve precise adjustment of the sidewall's three-dimensional spatial attitude.

[0076] Pitch angle adjustment: The control module commands control the two push-pull devices at the bottom of the assembly trolley to extend and retract synchronously and equally. These two devices act on the lower part of the backwater surface of the side wall. Their synchronous advancement or retraction causes the side wall to tilt in the front and back direction around the horizontal axis, thereby correcting its pitch angle.

[0077] Yaw angle adjustment: The control module commands the two push-pull devices at the bottom to move asymmetrically, that is, one pushes forward while the other pulls back. This action causes the bottom of the side wall to rotate in the horizontal plane, thereby accurately correcting its yaw angle around the vertical axis and ensuring the accurate orientation of the side wall in the plane.

[0078] Roll angle adjustment: The control module commands the two lifting devices at the top to lift asymmetrically, that is, one lifts while the other remains still or lowers. This action creates a height difference in the left and right directions at the top of the side wall, thereby accurately correcting its roll angle around the front and rear horizontal axis and ensuring the levelness of the upper edge of the side wall.

[0079] The various embodiments of the present invention have now been described in detail. To avoid obscuring the concept of the invention, some details known in the art have not been described. Those skilled in the art will fully understand how to implement the technical solutions disclosed herein based on the above description.

[0080] The embodiments described above only illustrate some implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A composite prefabricated intelligent assembly system for subway station side walls, characterized in that, include: The assembly trolley includes a clamping device, a wall-hanging device, a positioning rod, a side wall receiving seat, a lifting device, a push-pull device, and a side wall receiving platform disposed on one side thereon. The force sensor subsystem includes a push-pull force sensor for detecting the force between the push-pull device and the side wall, a clamping force sensor for detecting the force between the clamping device and the side wall, and a lifting force sensor for detecting the lifting force of the lifting device. The displacement sensor subsystem includes a push-pull displacement sensor for detecting the telescopic displacement of the push-pull device, a clamping displacement sensor for detecting the clamping displacement of the clamping device, and a lifting displacement sensor for detecting the lifting displacement of the lifting device. The tilt sensor subsystem includes tilt sensors for real-time detection of the horizontality and verticality of the sidewalls; The identification and positioning subsystem includes a first camera for detecting the relative position of the upper surfaces between adjacent sidewalls, a second camera for locating the position of the sidewall installation section, a third camera for detecting the relative position of the bottom H-beam and H-beam channel of the sidewall, and a fourth camera for detecting the height of the gap between the lower surface of the sidewall and the surface of the H-beam channel. The control module is connected to the force sensor subsystem, displacement sensor subsystem, tilt sensor subsystem, and identification and positioning subsystem. The control module is configured to control the assembly trolley to adjust the position of the side wall to be assembled in response to the data collected by the force sensor subsystem, displacement sensor subsystem, tilt sensor subsystem, and identification and positioning subsystem.

2. The intelligent assembly system for the side walls of a prefabricated subway station according to claim 1, characterized in that: The tilt sensor subsystem includes at least two tilt sensors, which are movably mounted on the assembly trolley frame and pushed out to rest against the backwater surface of the side wall during measurement.

3. The intelligent assembly system for the side walls of a prefabricated subway station according to claim 1, characterized in that: The first camera and the second camera are installed at at least one position on the upper and middle parts of the frame of the assembly trolley near the assembled side wall; The third camera consists of multiple cameras arranged along the length of the side wall at the receiving end of the assembly trolley side wall, and is used to detect the relative positions of multiple H-beams and H-beam channels at the bottom of the side wall respectively. The fourth camera consists of at least two cameras, which are installed on both sides of the bottom of the assembly trolley frame.

4. The intelligent assembly system for the side walls of a prefabricated subway station according to claim 1, characterized in that, The control module is configured as follows: Based on the feedback from the force sensor subsystem and the displacement sensor subsystem, closed-loop control of the force and displacement of the push-pull device, the clamping device and the lifting device is realized to prevent interference and damage to the adjustment devices when adjusting the side wall posture.

5. The intelligent assembly system for the side walls of a prefabricated subway station according to claim 1, characterized in that: The side wall receiving platform is located on one side of the bottom of the assembly trolley; the side wall receiving platform provides temporary support for the side wall before the side wall is clamped and fixed by the clamping device.

6. The intelligent assembly system for the side walls of a prefabricated subway station according to claim 5, characterized in that: The positioning rod is disposed adjacent to the clamping device on one side of the assembly trolley; the positioning rod limits one side of the side wall during the process of the side wall being lowered to the side wall receiving platform.

7. The intelligent assembly system for the side walls of a prefabricated subway station according to claim 1, characterized in that, The force sensor subsystem includes: Two push-pull force sensors are mounted on the two push-pull devices; Four clamping force sensors are installed on the two sets of clamping devices; Two lifting force sensors are installed on the two lifting devices.

8. A method for intelligent assembly of composite prefabricated subway station side walls, employing the system described in any one of claims 1 to 7, characterized in that, Includes the following steps: Side wall reception and fixing: The gantry crane sends the side wall into the fixing position of the assembly trolley, and fixes the side wall in conjunction with the clamping device and wall lifting device of the assembly trolley; Sidewall attitude adjustment: Based on the sidewall attitude data detected by the tilt sensor subsystem, the push-pull device and the lifting device are controlled to move in conjunction or individually to adjust the pitch angle, yaw angle and roll angle of the sidewall. Side wall identification, positioning and installation steps: Based on the visual data of the identification and positioning subsystem, control the assembly trolley to move the side wall above the target installation position, and lower the side wall so that the H-beam at its bottom falls into the H-beam groove of the installed structure; Installation accuracy detection: Based on the detection of the height difference between the upper surfaces of adjacent side walls by the identification and positioning subsystem, the height of the side walls is adjusted to make the height difference within a preset range in order to complete the assembly of the side walls.

9. The intelligent assembly method for composite prefabricated subway station sidewalls according to claim 8, characterized in that, It also includes the following steps: Gap data acquisition: Based on the identification and positioning subsystem, the gap height between the lower surface of the side wall and the surface of the H-shaped steel channel is detected to guide the gap filling construction.

10. The intelligent assembly method for composite prefabricated subway station sidewalls according to claim 8, characterized in that, The sidewall attitude adjustment steps include: The two push-pull devices at the bottom of the assembly trolley are linked to adjust the pitch angle of the side wall; The two push-pull devices at the bottom of the assembly trolley are controlled to move individually to adjust the yaw angle of the side wall; Control the two lifting devices on the upper part of the assembly trolley to move individually to adjust the rolling angle of the side wall.

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