Installation structure and method of a prefabricated element in a shield power tunnel

Abstract

The application relates to the technical field of tunnel prefabricated part installation, and discloses a shield power tunnel prefabricated part installation structure and method. The installation structure comprises a trolley, a supporting arm and a mechanical arm; a first laser range finder group is installed on the mechanical arm and comprises a first laser range finder and a second laser range finder arranged oppositely, and the first laser range finder and the second laser range finder are respectively oriented to the positive and negative sides of the height direction of the tunnel; a second laser range finder group is installed on the supporting arm and comprises a third laser range finder and a fourth laser range finder arranged oppositely, and the third laser range finder and the fourth laser range finder are respectively oriented to the positive and negative sides of the width direction of the tunnel; and a third laser range finder group is installed on the mechanical arm and comprises a fifth laser range finder and a sixth laser range finder arranged oppositely, and the fifth laser range finder and the sixth laser range finder are respectively oriented to the positive and negative sides of the length direction of the tunnel.

Description

Technical Field

[0001] This application relates to the field of prefabricated component installation technology in tunnels, and more specifically, to an installation structure and method for prefabricated components in a shield power tunnel. Background Technology

[0002] In related technologies, due to factors such as the large space occupied by overhead corridors, inconvenient operation and maintenance, and significant environmental impact on reliability, the replacement of traditional overhead lines with underground cables has become a global trend in urban development. Compared to overhead lines, underground cables have advantages such as not occupying valuable ground resources, reliable power transmission, strong anti-interference capabilities, and environmental friendliness, and are increasingly favored by power grid companies, gradually becoming a major component of urban power supply networks.

[0003] Currently, the assembly of prefabricated modular structures for power tunnels relies mainly on manual labor supplemented by small hoisting equipment, resulting in low levels of mechanization, low construction efficiency, and low assembly accuracy. During the construction of shield-tunnel power tunnels, issues such as misalignment and axis deviation are prone to occur, requiring correction and elimination of shield tunneling errors through cast-in-place strips and leveling layers. This necessitates unavoidable wet work, leading to low assembly accuracy and low construction efficiency in the construction of internal partitions within shield-tunnel power tunnels.

[0004] There is currently no effective solution to the above problems. Summary of the Invention

[0005] This application provides an installation structure and method for prefabricated components in a shield-tunnel power transmission tunnel, which at least solves the technical problems of low assembly accuracy and low assembly efficiency of prefabricated components in power transmission tunnels.

[0006] According to one aspect of the embodiments of this application, an installation structure for prefabricated components in a shield-type power tunnel is provided, comprising:

[0007] The trolley includes a trolley body, a support arm, and a robotic arm. One end of the support arm is connected to the trolley body, and the other end of the support arm is connected to one end of the robotic arm. The robotic arm has a clamping part for clamping the prefabricated component, and the robotic arm can drive the prefabricated component to move and rotate in multiple degrees of freedom.

[0008] The first laser rangefinder group, installed on the robotic arm, includes a first laser rangefinder and a second laser rangefinder arranged opposite each other. The first laser rangefinder and the second laser rangefinder are respectively facing the positive and negative sides of the tunnel height direction to detect the installation position of the prefabricated component along the tunnel height direction.

[0009] The second laser rangefinder group is installed on the support arm and includes a third laser rangefinder and a fourth laser rangefinder arranged opposite each other. The third laser rangefinder and the fourth laser rangefinder are respectively facing the positive and negative sides in the tunnel width direction to detect the installation position of the prefabricated component along the tunnel width direction.

[0010] The third laser rangefinder group, installed on the robotic arm, includes a fifth laser rangefinder and a sixth laser rangefinder arranged opposite each other. The fifth laser rangefinder and the sixth laser rangefinder face the positive and negative sides of the tunnel length direction, respectively, to detect the installation position of the prefabricated component along the tunnel length direction.

[0011] Optionally, the prefabricated component includes a bottom component, which is a semi-circular ring component. The two sides of the semi-circular ring component are symmetrically provided with straight chamfered edges, and the central axis of the semi-circular ring component is provided with a partition.

[0012] Optionally, the installation position of the first laser rangefinder group is on the same horizontal plane as the maximum length position of the bottom component;

[0013] The second laser rangefinder assembly is installed on the same vertical plane as the partition plate of the bottom component;

[0014] The installation position of the third laser rangefinder group is the same as that of the first laser rangefinder group.

[0015] Optionally, the installation structure further includes an auxiliary locator and a fourth laser rangefinder assembly. The auxiliary locator is installed on the prefabricated component, and the fourth laser rangefinder assembly is installed on the robotic arm and corresponds to the auxiliary locator.

[0016] Optionally, the auxiliary positioner includes a fixed roller and a laser baffle. The preform has a positioning hole, the fixed roller is installed in the positioning hole, and the laser baffle is rotatably installed on the fixed roller. The laser baffle can be perpendicular to the upper surface of the preform.

[0017] The robotic arm has multiple positioning pins on the side facing the preform. The fourth laser rangefinder group includes multiple stitched laser rangefinders, which are installed one-to-one on the multiple positioning pins. The multiple stitched laser rangefinders include at least two stitched laser rangefinders spaced vertically and at least two stitched laser rangefinders spaced horizontally.

[0018] Optionally, the laser baffle is rotatably mounted on both axial sides of the fixed roller. The laser baffle includes a first laser baffle and a second laser baffle. The fourth laser rangefinder group includes a seventh laser rangefinder, an eighth laser rangefinder, a ninth laser rangefinder, and a tenth laser rangefinder. The seventh, eighth, ninth, and tenth laser rangefinders are arranged in a rectangular shape. The seventh and eighth laser rangefinders are mounted vertically at intervals on the same vertical plane of the first laser baffle. The ninth and tenth laser rangefinders are mounted vertically at intervals on the same vertical plane of the second laser baffle. The seventh and ninth laser rangefinders are located on the same horizontal plane.

[0019] Optionally, a positioning block is also installed on the side wall of the fixed roller, and the positioning block is set near one axial end of the fixed roller.

[0020] According to another aspect of the embodiments of this application, a method for installing prefabricated components in a shield power tunnel is also provided, applied to the above-mentioned installation structure for prefabricated components in a shield power tunnel, the method comprising:

[0021] During the process of lifting the precast component by the robotic arm, the first positional deviation of the precast component during the lifting process is detected by the first laser rangefinder group installed on the robotic arm.

[0022] During the process of the trolley moving and driving the precast component to move, the second positional deviation of the precast component during the longitudinal movement is detected by the second laser rangefinder group installed on the support arm.

[0023] During the process of rotating the precast component by the robotic arm, the third position deviation of the precast component during the rotation is detected by the first laser rangefinder group installed on the robotic arm.

[0024] The installation deviation of the prefabricated component is calibrated based on the first position deviation, the second position deviation, and the third position deviation.

[0025] Optionally, the method includes:

[0026] After the first prefabricated component is installed in the preset position, an auxiliary locator is installed in the first positioning hole of the first prefabricated component;

[0027] The positional deviation between the first prefabricated component and the previously installed second prefabricated component is measured by the cooperation of the fourth laser rangefinder group set on the robotic arm and the laser baffle of the auxiliary positioner, wherein the second prefabricated component and the first prefabricated component have the same component type.

[0028] The splicing deviation of the first preform is calibrated based on the positional deviation between the first preform and the second preform.

[0029] Optionally, calibrating the splicing deviation of the first preform based on the positional deviation between the first preform and the second preform includes:

[0030] The distance between the seventh laser rangefinder and the first laser baffle is measured by a seventh laser rangefinder mounted on the robotic arm, and the distance between the eighth laser rangefinder and the first laser baffle is measured by an eighth laser rangefinder mounted on the robotic arm, wherein the seventh laser rangefinder and the eighth laser rangefinder are located in the same vertical plane;

[0031] The fourth positional deviation between the first preform and the second preform is determined based on the distance between the seventh laser rangefinder and the first laser baffle and the distance between the eighth laser rangefinder and the first laser baffle.

[0032] The rotational deviation of the first precast component along the width direction of the tunnel is determined based on the four positional deviations.

[0033] The distance between the seventh laser rangefinder and the first laser baffle is measured by the seventh laser rangefinder mounted on the robotic arm, and the distance between the ninth laser rangefinder and the second laser baffle is measured by the ninth laser rangefinder mounted on the robotic arm, wherein the seventh laser rangefinder and the ninth laser rangefinder are located on the same horizontal plane;

[0034] The fifth positional deviation between the first preform and the second preform is determined based on the distance between the seventh laser rangefinder and the first laser baffle and the distance between the ninth laser rangefinder and the second laser baffle.

[0035] The rotational deviation of the first precast component along the height direction of the tunnel is determined based on the fifth positional deviation.

[0036] The rotational deviation of the first precast component along the length of the tunnel is determined based on the position information of the laser point illuminated by at least one of the stitched laser rangefinders in the fourth laser rangefinder group onto the laser baffle.

[0037] The installation structure and method for prefabricated components in a shield-tunnel power tunnel provided in this application embodiment involves setting up a trolley, which includes a trolley body, a support arm, and a robotic arm. One end of the support arm is connected to the trolley body, and the other end of the support arm is connected to one end of the robotic arm. The robotic arm has a clamping part for holding the prefabricated component, and the robotic arm can drive the prefabricated component to move and rotate with multiple degrees of freedom. A first laser rangefinder group and a third laser rangefinder group are set in the robotic arm, and a second laser rangefinder group is set in the support arm. The second laser rangefinder group includes a third laser rangefinder and a fourth laser rangefinder arranged opposite each other, with the third and fourth laser rangefinders facing the positive and negative sides of the tunnel width direction, respectively, to detect the installation of the prefabricated component along the tunnel width direction. The third laser rangefinder group includes a fifth and a sixth laser rangefinder positioned opposite each other, facing the positive and negative sides of the tunnel length direction, respectively. This allows for the detection of the installation position of the prefabricated component along the tunnel length direction. It assists workers in accurately positioning the prefabricated components during assembly, preventing collisions between the prefabricated components and the prefabricated ring during rotation and assembly. Simultaneously, it can detect the positional deviation of the prefabricated components in real time, providing workers with precise deviation information and effective correction methods. This significantly improves assembly accuracy, ensures structural assembly quality, enhances the mechanized construction level of internal prefabricated diaphragms in large-section shield power tunnels, guarantees tunnel construction quality, and shortens the tunnel construction cycle. Attached Figure Description

[0038] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments of this application and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0039] Figure 1 This is a first schematic diagram of the installation structure of prefabricated components in a shield power tunnel according to an embodiment of this application (including the installation position and orientation of the first laser rangefinder group).

[0040] Figure 2 This is a first schematic diagram of the installation structure of prefabricated components in a shield power tunnel according to an embodiment of this application (including the installation position and orientation of the second laser rangefinder group).

[0041] Figure 3 This is a first schematic diagram of the installation structure of prefabricated components in a shield power tunnel according to an embodiment of this application (including the installation position and orientation of the third laser rangefinder group).

[0042] Figure 4 This is a structural schematic diagram of the bottom component of the prefabricated component provided in the embodiments of this application;

[0043] Figure 5 This is a schematic diagram of the structure of the auxiliary locator provided according to the embodiments of this application;

[0044] Figure 6 This is a schematic diagram of the installation structure of the fourth laser rangefinder group according to an embodiment of this application;

[0045] Figure 7 Provided according to the embodiments of this application Figure 6 Top view.

[0046] Figure label:

[0047] 1-Cart, 11-Cart body, 12-Support arm, 13-Mechanical arm; 2-First laser rangefinder group; 3-Second laser rangefinder group; 4-Third laser rangefinder group; 5-Auxiliary positioner, 51-Fixed roller, 521-First laser baffle, 522-Second laser baffle, 53-Positioning block; 61-Seventh laser rangefinder, 62-Eighth laser rangefinder, 63-Ninth laser rangefinder, 64-Tenth laser rangefinder;

[0048] 20-Bottom component, 201-Positioning hole, 202-First bottom component, 203-Second bottom component; 30-Top component. Detailed Implementation

[0049] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0050] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0051] Figure 1This is a schematic diagram of the installation structure of prefabricated components in a shield power tunnel according to an embodiment of this application, as shown below. Figure 1 As shown, the mounting structure includes:

[0052] The trolley 1 includes a trolley body 11, a support arm 12, and a robotic arm 13. One end of the support arm 12 is connected to the trolley body 11, and the other end of the support arm 12 is connected to one end of the robotic arm 13. The robotic arm 13 has a clamping part for clamping the preform, and the robotic arm 13 can drive the preform to move and rotate in multiple degrees of freedom.

[0053] The first laser rangefinder group 2 is installed on the robotic arm 13 and includes a first laser rangefinder and a first laser rangefinder arranged opposite each other. The first laser rangefinder and the first laser rangefinder are respectively facing the positive and negative sides of the tunnel height direction to detect the installation position of the prefabricated component along the tunnel height direction.

[0054] The second laser rangefinder group 3 is installed on the support arm 12 and includes a third laser rangefinder and a fourth laser rangefinder arranged opposite each other. The third laser rangefinder and the fourth laser rangefinder face the positive and negative sides of the tunnel width direction, respectively, to detect the installation position of the prefabricated component along the tunnel width direction.

[0055] The third laser rangefinder group 4 is installed on the robotic arm and includes a fifth laser rangefinder and a sixth laser rangefinder arranged opposite each other. The fifth laser rangefinder and the sixth laser rangefinder are respectively oriented towards the positive and negative sides of the tunnel length direction to detect the installation position of the prefabricated component along the tunnel length direction.

[0056] The prefabricated component is a prefabricated assembled component. In this embodiment, a trolley 1 with a support arm 12 and a robotic arm 13 is used to assist in the installation of the prefabricated component. The robotic arm 13 can clamp the bottom component 20 of the prefabricated component and drive it to move and rotate in multiple degrees of freedom. For example, in this embodiment, the bottom component 20 can achieve six degrees of freedom of movement and rotation, including translation in three degrees of freedom (forward and backward, left and right, and up and down) and rotation in three degrees of freedom (around the X-axis, Y-axis, and Z-axis). The first laser rangefinder group 2 is used to detect whether the prefabricated component is lifted (moved up and down) in place, the second laser rangefinder group 3 is used to detect whether the prefabricated component is moved longitudinally (horizontally) in place, and the third laser rangefinder group 4 is used to detect whether the prefabricated component is rotated in place. The installation structure for prefabricated components in a shield power tunnel provided in this application embodiment involves setting up a trolley 1, which includes a trolley body 11, a support arm 12, and a mechanical arm 13. One end of the support arm 12 is connected to the trolley body 11, and the other end of the support arm 12 is connected to one end of the mechanical arm 13. The mechanical arm 13 has a clamping part for clamping the prefabricated component, and the mechanical arm 13 can drive the prefabricated component to move up and down and rotate horizontally. A first laser rangefinder group 2 and a third laser rangefinder group 4 are set in the mechanical arm 13, and a second laser rangefinder group 3 is set in the support arm 12. The second laser rangefinder group 3 includes a third laser rangefinder and a fourth laser rangefinder arranged opposite each other. The third laser rangefinder and the fourth laser rangefinder are... The first laser rangefinder group 4 includes a fifth laser rangefinder and a sixth laser rangefinder arranged opposite each other, facing the positive and negative sides of the tunnel width direction, respectively, to detect the installation position of the prefabricated component along the tunnel length direction. This assists workers in accurately positioning the prefabricated components during assembly, preventing collisions between the prefabricated components and the prefabricated ring during rotation and assembly. Simultaneously, it can detect the positional deviation of the prefabricated components in real time, providing workers with precise deviation information and effective correction methods, greatly improving assembly accuracy and ensuring structural assembly quality.

[0057] This application helps to solve the problems of low construction efficiency, poor assembly accuracy, numerous safety risks, and difficulty in guaranteeing quality of internal partition structures in large-section shield power tunnels. It provides technical support for the mechanized and fully prefabricated construction of internal partitions in shield power tunnels, improves the level of mechanized construction of prefabricated internal partitions in large-section shield power tunnels, ensures tunnel construction quality, shortens tunnel construction cycle, leads the development of green construction technology in the industry, realizes industrial optimization and upgrading, and promotes the healthy and sustainable development of power tunnel construction.

[0058] Optional, such as Figure 4As shown, the prefabricated component includes a bottom component 20, which is a semi-circular ring component. The two sides of the semi-circular ring component are symmetrically provided with straight edge chamfers, and the central axis of the semi-circular ring component is provided with a partition (middle partition).

[0059] In this embodiment, the mounting structure is mainly used for mounting the bottom component 20. For example... Figure 1 As shown, the prefabricated component also includes a top component 30, which is fixed above the middle of the bottom component 20. The top component can be a square plate structure.

[0060] In some embodiments, the installation position of the first laser rangefinder group 2 is on the same horizontal plane as the maximum length position of the bottom component;

[0061] The installation position of the second laser rangefinder group 3 is on the same vertical plane as the partition of the bottom component;

[0062] The installation position of the third laser rangefinder group 4 is the same as that of the first laser rangefinder group 2.

[0063] In this embodiment, the maximum length of the semi-circular annular component is less than the inner diameter of the tunnel, ensuring that the semi-circular annular component is installed inside the tunnel. Based on the structure of the tunnel and the bottom component 20, the arrangement position of the laser rangefinder assembly is set to achieve accurate detection.

[0064] The installation position of the third laser rangefinder group 4 is the same as that of the first laser rangefinder group 2, meaning that they are installed in the same location. However, the laser rangefinders in the third laser rangefinder group 4 are oriented differently from those in the first laser rangefinder group 2.

[0065] like Figures 1 to 3 As shown, before assisting in lifting and assembling the bottom component 20 of the precast component, a three-axis rectangular coordinate system is first established inside the tunnel, where the x-axis is the width direction of the tunnel, the y-axis is the height direction of the tunnel, and the z-axis is the axis direction of the tunnel.

[0066] A first laser rangefinder group 2 is installed on one side of the robotic arm 13. The first laser rangefinder group 2 includes two laser rangefinders (a first laser rangefinder and a second laser rangefinder) arranged opposite each other. The two laser rangefinders are respectively oriented towards the positive and negative directions of the y-axis. The installation position of the first laser rangefinder group 2 is on the same horizontal plane as the maximum length of the prefabricated part.

[0067] A second laser rangefinder group 3 is installed on the support arm 2. The second laser rangefinder group 3 includes two laser rangefinders (a third laser rangefinder and a fourth laser rangefinder) arranged opposite each other. The two laser rangefinders are respectively oriented towards the positive and negative directions of the x-axis. The installation position of the second laser rangefinder group 3 is on the same vertical plane as the mid-section of the bottom component 20 of the prefabricated part.

[0068] A third laser rangefinder group 4 is installed on one side of the robotic arm 13. The third laser rangefinder group 4 includes two laser rangefinders arranged opposite each other, with the two laser rangefinders facing the positive and negative directions of the z-axis, respectively.

[0069] The auxiliary lifting and assembly process for the bottom component 20 is as follows:

[0070] S1, Lifting: After the robotic arm 13 grabs the bottom component 20 of the precast component, it lifts it along the positive y-axis. During the lifting process, the first laser rangefinder group 2 rises synchronously with the bottom component 20 of the precast component. When the distance values ​​measured by the two laser rangefinders of the first laser rangefinder group 2 are equal to the distances to the top and bottom surfaces of the tunnel, it can be determined that the maximum length position of the bottom component 20 of the precast component is on the same plane as the horizontal diameter of the tunnel.

[0071] S2, longitudinal movement: The trolley 1 is moved along the positive and negative x-axis until the distance measured by the two laser rangefinders of the second laser rangefinder group 3 is equal to the distance between the left and right side walls of the tunnel. Then it can be determined that the mid-section of the bottom component 20 of the precast component is in the same plane as the longitudinal mid-section of the tunnel.

[0072] S3, Rotation: The robotic arm 13 holds the bottom component 20 of the precast component and rotates it until the axis of the bottom component 20 is parallel to the tunnel axis. During the rotation, the distance measured by the two laser rangefinders in the third laser rangefinder group 4 gradually decreases from infinity. When the distance decreases to the minimum value and the two distances are equal, it can be determined that the bottom component 20 of the precast component has been rotated into place and the axis of the bottom component 20 of the precast component is parallel to the tunnel axis.

[0073] The formulas for calculating deviations during the lifting, longitudinal movement, and rotation processes are as follows:

[0074] (1)

[0075] (2)

[0076] (3)

[0077] The center of the maximum horizontal section of the bottom component 20 of the precast component is positioned as the center of rotation.

[0078] when εt If the value is greater than 0, it means that the bottom component 20 of the precast component has not been lifted into place during the lifting process. At this time, the interactive interface will display the lifting + value, prompting the bottom component 20 to continue to be lifted upwards.

[0079] when ε t If the value is less than 0, it means that the rotation center of the bottom component 20 of the precast component exceeds the center position of the tunnel during the lifting process. At this time, the interactive interface will display a "downward" value, prompting the bottom component 20 to continue to be lowered.

[0080] when ε t A value of 0 indicates that the rotation center of the bottom component 20 of the precast component is on the same horizontal plane as the center of the tunnel.

[0081] when ε z If the value is greater than 0, it means that the bottom component 20 of the precast component has not yet moved into place during the longitudinal movement process. At this time, the interactive interface will display the value of rightward movement +.

[0082] when ε z If the value is less than 0, it means that the bottom component 20 of the precast component exceeds the center position of the tunnel during the longitudinal movement. At this time, the interactive interface will display the value of leftward movement.

[0083] when ε z A value of 0 indicates that the rotation center of the bottom component 20 of the precast component is in the same vertical plane as the center of the tunnel;

[0084] when ε θ If the value is greater than 0, it means that the bottom component 20 of the precast part has not yet rotated into place during the rotation process. At this time, the interactive interface will display the value of "reverse +".

[0085] when ε θ If the value is less than 0, it means that the bottom component 20 of the precast component exceeds the predetermined position during the lifting process. At this time, the interactive interface will display the value of clockwise rotation.

[0086] when ε θ When the value is 0, it means that the rotation center of the bottom component 20 of the precast component is at the same position as the center of the tunnel.

[0087] In some embodiments, the mounting structure further includes an auxiliary locator 5 and a fourth laser rangefinder group. The auxiliary locator 5 is mounted on the bottom component 20, and the fourth laser rangefinder group is mounted on the robotic arm 13 and corresponds to the auxiliary locator 5.

[0088] In the above embodiments, the precise lifting and assembly of the bottom component 20 is achieved through the first laser rangefinder group 2, the second laser rangefinder group 3, and the third laser rangefinder group 4, guiding operators to accurately complete the lifting and rotation operations of the prefabricated assembled structure (prefabricated component) of the power tunnel. In this embodiment, after the first prefabricated component is assembled to the second prefabricated component, the precise assembly of the two bottom components 20 can also be achieved through the cooperation of the auxiliary locator 5 installed on the bottom component 20 and the fourth laser rangefinder group installed on the robotic arm 13, that is, assisting operators in completing complex operations such as assembling and positioning the prefabricated assembled structure, leveling the upper surface, and controlling structural gaps.

[0089] In some embodiments, such as Figures 5 to 7 As shown, the auxiliary positioner 5 includes a fixed roller 51 and a laser baffle 52. The bottom component 20 has a positioning hole 201. The fixed roller 51 is installed in the positioning hole 201. The laser baffle 52 is rotatably installed on the fixed roller 51. The laser baffle 52 can be perpendicular to the upper surface of the bottom component 20.

[0090] The robotic arm 13 is provided with a plurality of positioning pins 131 on the side facing the bottom component 20. The fourth laser rangefinder group includes a plurality of spliced ​​laser rangefinders. The plurality of spliced ​​laser rangefinders are installed one-to-one with the plurality of positioning pins 131. The plurality of spliced ​​laser rangefinders include at least two spliced ​​laser rangefinders arranged vertically and at least two spliced ​​laser rangefinders arranged horizontally.

[0091] Two through-holes 201 are provided on the front side of the partition of the bottom component 20 of the prefabricated part. After the bottom component 20 of the nth ring prefabricated part is assembled, an auxiliary locator 5 is installed in the positioning holes 201 of the bottom component 20 of the bottom component 20 of the nth ring prefabricated part. The assembly accuracy of the bottom component 20 of the nth ring prefabricated part is detected by cooperating with the laser baffle 52 on the auxiliary locator 5 using the fourth laser rangefinder group mounted on the robotic arm 13. The fourth laser rangefinder group illuminates the laser baffle 52 and measures the distance between each spliced ​​laser rangefinder in the fourth laser rangefinder group and the laser baffle 52. Then, based on the distance between each spliced ​​laser rangefinder and the laser baffle 52, it is determined whether there is an assembly deviation in the bottom component 20 of the nth ring prefabricated part. If there is, the assembly deviation is calibrated.

[0092] The fixed roller 51 is preferably a hollow cylinder cast from alloy steel. The laser baffle 52 is installed at both ends of the fixed roller 51 by plugging and unplugging, and the laser baffle 52 can rotate relative to the fixed roller 51, allowing the laser baffle 52 to be freely adjusted to be perpendicular to the upper surface of the bottom component 20. The laser baffle 52 is preferably a lightweight material baffle. The shape of the laser baffle 52 is square, rectangular, or circular, etc. The first prefabricated part is the first bottom component 202, and the second prefabricated part is the second bottom component 203.

[0093] The diameter of the fixed roller 51 is smaller than the inner diameter of the positioning hole 201 and matches the inner wall of the positioning hole 201, so that the fixed roller 51 can be installed in the positioning hole 201. In this embodiment, the laser baffle 52 is detachably installed on the axial direction of the fixed roller 51 based on the rotational installation method, so that the laser baffles 52 on both sides of the axial direction can rotate freely around the insertion shaft under their own weight until they are adjusted to be perpendicular to the upper surface of the bottom component 20.

[0094] In some embodiments, the laser baffle 10 is rotatably mounted on both axial sides of the fixed roller 21. The laser baffle 52 includes a first laser baffle 521 and a second laser baffle 522. The fourth laser rangefinder group includes a seventh laser rangefinder 61, an eighth laser rangefinder 62, a ninth laser rangefinder 63, and a tenth laser rangefinder 64. The seventh laser rangefinder 61, the eighth laser rangefinder 62, the ninth laser rangefinder 63, and the tenth laser rangefinder 64 are arranged in a rectangular shape. The seventh laser rangefinder 61 and the eighth laser rangefinder 62 are mounted vertically at intervals on the same vertical plane of the first laser baffle. The ninth laser rangefinder 63 and the tenth laser rangefinder 64 are mounted vertically at intervals on the same vertical plane of the second laser baffle. The seventh laser rangefinder 61 and the ninth laser rangefinder 63 are on the same horizontal plane.

[0095] In this embodiment, two laser baffles installed on both sides of the fixed roller 21, together with four splicing laser rangefinders, can complete the splicing detection of the bottom component 20. The specific splicing detection process is as follows:

[0096] Four rectangularly arranged positioning pins 131 are set at the front end of the assembly robotic arm 3. Four inspection-use laser rangefinders, namely the seventh laser rangefinder 61, the eighth laser rangefinder 62, the ninth laser rangefinder 63, and the tenth laser rangefinder 64, are respectively mounted on the four positioning pins 131. The four laser rangefinders are arranged in a rectangular shape. Specifically, the seventh laser rangefinder 61 and the eighth laser rangefinder 62 are mounted on the first laser baffle 521 along the same vertical plane, and the ninth laser rangefinder 63 and the tenth laser rangefinder 64 are mounted on the second laser baffle 522 along the same vertical plane. The four inspection-use laser rangefinders are used to measure the distance between the positioning pins 131 and the laser baffle 10. The measured distance data are d7, d8, d9, and d10, respectively. 10 .

[0097] When d7 = d8 = d9 = d 10 At that time, it was determined that the upper surfaces of the prefabricated assembled structures of the front and rear rings (the nth ring and the (n+1th ring) were completely parallel.

[0098] When any of the four data points deviate, it indicates that the upper surface of the prefabricated assembly structure has tilted during the assembly process. The specific direction of the tilt can be determined and fine-tuned according to the following formula:

[0099] (4)

[0100] (5)

[0101] (6)

[0102] like d 7，8 ≠ Δ d Then the assembled n The bottom component 20 of the precast component (first precast component) of the +1 ring and the... n The upper surface of the ring preform (second preform) has undergone rotational deviation in the x-axis direction. The first preform should be rotated along the x-axis according to the following formula, where a positive value represents clockwise rotation along the x-axis and a negative value represents counterclockwise rotation along the x-axis:

[0103] (7)

[0104] like d 7，9 ≠ Δ d Then the assembled n +1 ring precast component bottom component 20 and the first n The upper surface of the ring precast component has undergone rotational deviation in the y-axis direction. The bottom component 20 of the precast component should be rotated along the y-axis according to the following formula, where a positive value represents clockwise rotation along the y-axis and a negative value represents counterclockwise rotation along the y-axis:

[0105] (8)

[0106] To ensure that the upper surface of the prefabricated component does not rotate in the z-axis direction, a dimensional grid is engraved on the laser baffle 10. Based on the irradiation position of the laser points, it is determined whether rotational adjustment along the z-axis is necessary. The height of laser point 1 is set as h1, and the height of laser point 2 is set as h2. The prefabricated assembly structure is rotated along the z-axis according to the following formula, where a positive value indicates clockwise rotation along the z-axis, and a negative value indicates counterclockwise rotation along the z-axis:

[0107] (9).

[0108] It is understandable that, in specific implementations, only the seventh laser rangefinder 61, the eighth laser rangefinder 62, and the ninth laser rangefinder 63 may be used. In this embodiment, by setting four laser rangefinders arranged in a rectangular pattern, the detection accuracy can be improved. Furthermore, by setting a fixed roller 21 and setting a first laser baffle 521 and a second laser baffle 522 on both sides of its axial direction, the structure is reasonable and compact. In specific implementations, the seventh laser rangefinder 61, the eighth laser rangefinder 62, and the tenth laser rangefinder 64 can also be used to detect rotational deviations along the x-axis and y-axis. In specific implementations, only one laser baffle may be used.

[0109] In the above embodiments, the positional deviation between the assembled ring and the existing ring can be calculated in real time, providing operators with accurate deviation information and giving effective correction methods, which greatly improves the assembly accuracy and ensures the quality of structural assembly.

[0110] In some embodiments, such as Figure 5 As shown, a positioning block 53 is also installed on the side wall of the fixed roller 51, and the positioning block 53 is set near one end of the fixed roller 51 along its axial direction.

[0111] The positioning block 53 can be welded to the side wall of the fixed roller 51 to limit the movement of the fixed roller 51. When using the auxiliary positioner 5, first remove the laser baffle 10 on the side of the fixed roller 51 away from the positioning block 53 (the first side), then insert the fixed roller 9 through into the positioning hole 201 until the positioning block 53 near the second side of the fixed roller 51 fits against the outer wall of the positioning hole 201, preventing the fixed roller 51 from being further inserted into the positioning hole 201. At this time, the removed laser baffle 10 is reinstalled on the fixed roller 9 to complete the installation of the auxiliary positioner 5.

[0112] Based on the above-described installation structure for prefabricated components in a shield power tunnel, this application also provides a method for installing prefabricated components in a shield power tunnel, applied to the aforementioned installation structure for prefabricated components in a shield power tunnel. The method includes:

[0113] S101, during the process of lifting the preform by the robotic arm 13, the first position deviation of the preform during the lifting process is detected by the first laser rangefinder group 2 installed on the robotic arm 13.

[0114] S102, during the process of the trolley 1 moving and driving the precast component to move, the second positional deviation of the precast component during the longitudinal movement is detected by the second laser rangefinder group installed on the support arm 12.

[0115] S103, during the process of rotating the preform by the robotic arm 13, the third position deviation of the preform during the rotation is detected by the first laser rangefinder group installed on the robotic arm.

[0116] S104, calibrate the installation deviation of the prefabricated component based on the first position deviation, the second position deviation, and the third position deviation.

[0117] In steps S101 to S104, during the process of lifting the prefabricated components by moving the trolley 1 and lifting the robotic arm 13, the bottom component 20 is precisely lifted and assembled by the first laser rangefinder group 2, the second laser rangefinder group 3 and the third laser rangefinder group 4, guiding the operators to accurately complete the lifting and rotation operations of the prefabricated assembled structure (prefabricated component) of the power tunnel.

[0118] In some embodiments, the method includes:

[0119] S201, after the first prefabricated component is installed in the preset position, an auxiliary locator is installed in the first positioning hole of the first prefabricated component;

[0120] S202, by cooperating with the laser baffle of the auxiliary positioner, the fourth laser rangefinder group set on the robotic arm measures the positional deviation between the first prefabricated component and the previously installed second prefabricated component, wherein the second prefabricated component and the first prefabricated component have the same component type;

[0121] S203, calibrate the splicing deviation of the first preform based on the positional deviation between the first preform and the second preform.

[0122] In steps S201 to S203, after the first prefabricated component is assembled to the second prefabricated component, the precise assembly of the two bottom components 20 is achieved through the cooperation of the auxiliary locator 5 installed on the bottom component 20 and the fourth laser rangefinder group installed on the robotic arm 13. This assists the operator in completing complex tasks such as assembling and positioning the prefabricated assembly structure, leveling the upper surface, and controlling structural gaps. In this embodiment, both the first and second prefabricated components are bottom components 20. In specific implementations, the first and second prefabricated components can also be top components 30. In this case, the auxiliary locator 5 is installed on the first top component that is currently assembled to the preset standard.

[0123] In some embodiments, step S203, calibrating the splicing deviation of the first preform based on the positional deviation between the first preform and the second preform, includes:

[0124] S2031, the distance between the seventh laser rangefinder and the first laser baffle is measured by the seventh laser rangefinder mounted on the robotic arm, and the distance between the eighth laser rangefinder and the first laser baffle is measured by the eighth laser rangefinder mounted on the robotic arm, wherein the seventh laser rangefinder and the eighth laser rangefinder are located in the same vertical plane;

[0125] S2032, determine the fourth positional deviation between the first preform and the second preform based on the distance between the seventh laser rangefinder and the first laser baffle and the distance between the eighth laser rangefinder and the first laser baffle;

[0126] S2033, determine the rotational deviation of the first precast component along the width direction of the tunnel based on the four positional deviations;

[0127] S2034, the distance between the seventh laser rangefinder and the first laser baffle is measured by the seventh laser rangefinder mounted on the robotic arm, and the distance between the ninth laser rangefinder and the second laser baffle is measured by the ninth laser rangefinder mounted on the robotic arm, wherein the seventh laser rangefinder and the ninth laser rangefinder are located on the same horizontal plane;

[0128] S2035, determine the fifth positional deviation between the first preform and the second preform based on the distance between the seventh laser rangefinder and the first laser baffle and the distance between the ninth laser rangefinder and the second laser baffle;

[0129] S2036, determine the rotational deviation of the first precast component along the height direction of the tunnel based on the fifth positional deviation;

[0130] S2037, determine the rotational deviation of the first precast component along the length of the tunnel based on the position information of the laser point illuminated by at least one of the stitched laser rangefinders in the fourth laser rangefinder group onto the laser baffle.

[0131] The method for installing prefabricated components in a shield power tunnel provided in this application corresponds to the installation structure of prefabricated components in a shield power tunnel in the above embodiments. Any option in the embodiments of the installation structure of prefabricated components in a shield power tunnel is also applicable to the embodiments of the method for installing prefabricated components in a shield power tunnel, and will not be repeated here.

[0132] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not indicate the superiority or inferiority of the embodiments.

[0133] In the above embodiments of this application, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0134] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. An installation structure for prefabricated components in a shield-tunnel power transmission line, characterized in that, include: The trolley includes a trolley body, a support arm, and a robotic arm. One end of the support arm is connected to the trolley body, and the other end of the support arm is connected to one end of the robotic arm. The robotic arm has a clamping part for clamping the prefabricated component, and the robotic arm can drive the prefabricated component to move and rotate in multiple degrees of freedom. The first laser rangefinder group, installed on the robotic arm, includes a first laser rangefinder and a second laser rangefinder arranged opposite each other. The first laser rangefinder and the second laser rangefinder are respectively facing the positive and negative sides of the tunnel height direction to detect the installation position of the prefabricated component along the tunnel height direction. The second laser rangefinder group is installed on the support arm and includes a third laser rangefinder and a fourth laser rangefinder arranged opposite each other. The third laser rangefinder and the fourth laser rangefinder are respectively facing the positive and negative sides in the tunnel width direction to detect the installation position of the prefabricated component along the tunnel width direction. The third laser rangefinder group, installed on the robotic arm, includes a fifth laser rangefinder and a sixth laser rangefinder arranged opposite each other. The fifth laser rangefinder and the sixth laser rangefinder face the positive and negative sides of the tunnel length direction, respectively, to detect the installation position of the prefabricated component along the tunnel length direction.

2. The installation structure according to claim 1, characterized in that, The prefabricated component includes a bottom component, which is a semi-circular ring component. The two sides of the semi-circular ring component are symmetrically provided with straight chamfered edges, and the central axis of the semi-circular ring component is provided with a partition.

3. The installation structure according to claim 2, characterized in that, The installation position of the first laser rangefinder group is on the same horizontal plane as the maximum length position of the bottom component; The second laser rangefinder assembly is installed on the same vertical plane as the partition plate of the bottom component; The installation position of the third laser rangefinder group is the same as that of the first laser rangefinder group.

4. The installation structure according to claim 1, characterized in that, The installation structure also includes an auxiliary locator and a fourth laser rangefinder assembly. The auxiliary locator is installed on the prefabricated component, and the fourth laser rangefinder assembly is installed on the robotic arm and corresponds to the auxiliary locator.

5. The installation structure according to claim 4, characterized in that, The auxiliary positioner includes a fixed roller and a laser baffle. The preform has a positioning hole, the fixed roller is installed in the positioning hole, and the laser baffle is rotatably installed on the fixed roller. The laser baffle can be perpendicular to the upper surface of the preform. The robotic arm has multiple positioning pins on the side facing the preform. The fourth laser rangefinder group includes multiple stitched laser rangefinders, which are installed one-to-one on the multiple positioning pins. The multiple stitched laser rangefinders include at least two stitched laser rangefinders spaced vertically and at least two stitched laser rangefinders spaced horizontally.

6. The installation structure according to claim 5, characterized in that, The laser baffle is rotatably mounted on both sides of the fixed roller. The laser baffle includes a first laser baffle and a second laser baffle. The fourth laser rangefinder group includes a seventh laser rangefinder, an eighth laser rangefinder, a ninth laser rangefinder, and a tenth laser rangefinder. The seventh, eighth, ninth, and tenth laser rangefinders are arranged in a rectangular shape. The seventh and eighth laser rangefinders are mounted vertically at intervals on the same vertical plane of the first laser baffle. The ninth and tenth laser rangefinders are mounted vertically at intervals on the same vertical plane of the second laser baffle. The seventh and ninth laser rangefinders are located on the same horizontal plane.

7. The installation structure according to claim 5, characterized in that, A positioning block is also installed on the side wall of the fixed roller, and the positioning block is set near the axial end of the fixed roller.

8. A method for installing prefabricated components in a shield-tunnel power transmission tunnel, characterized in that, An installation structure for prefabricated components applied in any one of claims 1 to 7 within a shield-tunnel power transmission tunnel, the method comprising: During the process of lifting the precast component by the robotic arm, the first positional deviation of the precast component during the lifting process is detected by the first laser rangefinder group installed on the robotic arm. During the process of the trolley moving and driving the precast component to move, the second positional deviation of the precast component during the longitudinal movement is detected by the second laser rangefinder group installed on the support arm. During the process of rotating the precast component by the robotic arm, the third position deviation of the precast component during the rotation is detected by the first laser rangefinder group installed on the robotic arm. The installation deviation of the prefabricated component is calibrated based on the first position deviation, the second position deviation, and the third position deviation.

9. The method according to claim 8, characterized in that, The method includes: After the first prefabricated component is installed in the preset position, an auxiliary locator is installed in the first positioning hole of the first prefabricated component; The positional deviation between the first prefabricated component and the previously installed second prefabricated component is measured by the cooperation of the fourth laser rangefinder group set on the robotic arm and the laser baffle of the auxiliary positioner, wherein the second prefabricated component and the first prefabricated component have the same component type. The splicing deviation of the first preform is calibrated based on the positional deviation between the first preform and the second preform.

10. The method according to claim 9, characterized in that, The step of calibrating the splicing deviation of the first preform based on the positional deviation between the first preform and the second preform includes: The distance between the seventh laser rangefinder and the first laser baffle is measured by a seventh laser rangefinder mounted on the robotic arm, and the distance between the eighth laser rangefinder and the first laser baffle is measured by an eighth laser rangefinder mounted on the robotic arm, wherein the seventh laser rangefinder and the eighth laser rangefinder are located in the same vertical plane; The fourth positional deviation between the first preform and the second preform is determined based on the distance between the seventh laser rangefinder and the first laser baffle and the distance between the eighth laser rangefinder and the first laser baffle. The rotational deviation of the first precast component along the width direction of the tunnel is determined based on the four positional deviations. The distance between the seventh laser rangefinder and the first laser baffle is measured by the seventh laser rangefinder mounted on the robotic arm, and the distance between the ninth laser rangefinder and the second laser baffle is measured by the ninth laser rangefinder mounted on the robotic arm, wherein the seventh laser rangefinder and the ninth laser rangefinder are located on the same horizontal plane; The fifth positional deviation between the first preform and the second preform is determined based on the distance between the seventh laser rangefinder and the first laser baffle and the distance between the ninth laser rangefinder and the second laser baffle. The rotational deviation of the first precast component along the height direction of the tunnel is determined based on the fifth positional deviation. The rotational deviation of the first precast component along the length of the tunnel is determined based on the position information of the laser point illuminated by at least one of the stitched laser rangefinders in the fourth laser rangefinder group onto the laser baffle.

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