阅读说明：本技术 用于隧道内的中隔墙、其安装设备和安装方法 (Intermediate wall for use in tunnel, installation apparatus and installation method thereof ) 是由 夏站辉 王玉祥 王振飞 张辽 徐克洋 潘学军 王洋 赵旭 谢松波 范韬 李超 于 2021-08-18 设计创作，主要内容包括：本发明公开了一种用于隧道内的中隔墙、其安装设备和安装方法,包括若干依次拼接形成墙体的预制中隔墙；所述预制中隔墙包括承接基底和预制墙体；所述预制中隔墙为一体式结构,所述预制墙体垂直固定在所述基底上；所述预制墙体拼接侧设置有对应的凹槽配合结构,用以实现相邻预制中隔墙间的紧密咬合连接；在本发明提供的中隔墙中,所述预制墙体拼接侧设置有对应的凹槽配合结构及安装抓取孔能使在隧道施工过程中,中隔墙安装周期缩短,降低成本投入,同时增加中隔墙整体结构的完好性。(The invention discloses an intermediate wall used in a tunnel, installation equipment and an installation method thereof, which comprises a plurality of prefabricated intermediate walls which are sequentially spliced to form a wall body; the prefabricated intermediate wall comprises a bearing base and a prefabricated wall body; the prefabricated intermediate wall is of an integrated structure, and the prefabricated wall body is vertically fixed on the base; the splicing side of the prefabricated wall body is provided with a corresponding groove matching structure for realizing the close occlusion connection between the adjacent prefabricated intermediate walls; in the intermediate wall provided by the invention, the splicing side of the prefabricated wall body is provided with the corresponding groove matching structure and the corresponding mounting grabbing holes, so that the mounting period of the intermediate wall is shortened, the cost input is reduced, and the integrity of the whole structure of the intermediate wall is improved.)

1. An intermediate wall used in a tunnel comprises a plurality of prefabricated intermediate walls which are sequentially spliced to form a wall body; the prefabricated intermediate wall comprises a bearing base and a prefabricated wall body; the prefabricated mid-partition is of an integrated structure, and the prefabricated wall is vertically fixed on the base; the prefabricated wall body splicing side is provided with a corresponding groove matching structure for realizing tight occlusion connection between adjacent prefabricated intermediate walls.

2. The intermediate wall for use in a tunnel according to claim 1, wherein a mounting catching hole is provided at a center of gravity of the prefabricated wall body.

3. The installation equipment for installing the intermediate wall is characterized by comprising a support, a grabbing mechanism and a conveying mechanism; the bottom of the bracket is provided with a pulley which is used for moving the whole machine to an intermediate wall construction installation position by walking on a track; the bracket is provided with a lifting oil cylinder; the transportation mechanism comprises a slide rail mechanism arranged on a lever of the support lifting oil cylinder and a longitudinal moving mechanism which is matched with the slide rail mechanism in a sliding manner, one longitudinal side of the longitudinal moving mechanism is connected with a longitudinal adjusting oil cylinder, the longitudinal adjusting oil cylinder is arranged on a fixed frame at one side of the slide rail mechanism, the middle part of the longitudinal moving mechanism is provided with a transverse adjusting oil cylinder, a cylinder body of the transverse adjusting oil cylinder is arranged on the longitudinal moving mechanism, and a lever of the transverse adjusting oil cylinder is provided with the grabbing mechanism; the grabbing mechanism comprises a mounting seat fixed on the horizontal adjusting oil cylinder lever and an intermediate wall fixing seat connected with the mounting seat.

4. The installation apparatus for installing an intermediate wall according to claim 3, wherein a connecting hinge base is provided at a middle portion of one side of the installation base, fine tuning hinge bases are further provided on the installation base at both sides of the connecting hinge base, and fine tuning cylinders are fixed on the fine tuning hinge bases.

5. The installation apparatus for installing an intermediate wall according to claim 4, wherein a rotary hydraulic device installation seat is hinged to the connection hinge seat, and the rotary hydraulic device is installed on the hydraulic device installation seat after being connected with the intermediate wall fixing seat.

6. The installation apparatus for installing an intermediate wall according to claim 5, wherein the hydraulic swing device includes a driving shaft connected to the intermediate wall fixing base, a longitudinal fine adjustment cylinder fixed to the driving shaft and vertically connected to the intermediate wall fixing base, and a rotation cylinder hinged to the driving shaft through a coupling assembly.

7. The installation apparatus for installing an intermediate wall according to claim 3, wherein the intermediate wall fixing base is provided with a pin engaged with the intermediate wall installation catching hole.

8. An installation method for an intermediate wall according to claim 1, which is carried out based on the installation apparatus according to claim 3, comprising the steps of:

s1, the transport vehicle transports the prefabricated intermediate wall to a construction and installation designated position;

s2, driving the pulley at the bottom of the bracket by the mounting equipment for mounting the intermediate wall through a driving device, moving the whole machine to a specified position for mounting the prefabricated intermediate wall, and measuring the position relation between the grabbing mechanism and the intermediate wall to be mounted;

s3, adjusting a longitudinal adjusting oil cylinder and a transverse adjusting oil cylinder on the longitudinal moving mechanism and a lifting oil cylinder on a bracket to enable the center of a grabbing mechanism to coincide with an installation grabbing hole arranged on the middle partition wall, operating the transverse adjusting oil cylinder on the longitudinal moving mechanism to coincide a steel pin on a prefabricated middle partition wall fixing seat on the grabbing mechanism with the installation grabbing hole on the prefabricated middle partition wall, and inserting and fixing the steel pin;

s4, starting the support lifting oil cylinder, lifting the prefabricated middle partition wall to be separated from a transport vehicle, and driving the transport vehicle away from a construction installation position;

s5, continuously lifting the prefabricated middle partition wall to the central position of the upper space and the lower space of the tunnel through the support lifting oil cylinder;

s6, operating the transverse adjusting oil cylinder to move the prefabricated intermediate wall to the position of the center line of the tunnel;

s7, operating the hydraulic rotating device of the grabbing mechanism to enable the rotating oil cylinder to drive the driving shaft to rotate, so that the mid-partition installation base drives the mid-partition to be installed to rotate 90 degrees, and achieving an installation state;

s8, the mounting equipment travels to the position to be assembled through the stepping motor, and the transverse and longitudinal angles of the assembling posture of the middle partition wall are respectively finely adjusted; the angle in the longitudinal plane of the intermediate wall is adjusted to be consistent with the installed intermediate wall through the extension and retraction of a longitudinal fine adjustment oil cylinder in the hydraulic slewing device; through the extension and retraction of a fine adjustment oil cylinder hinged on a fine adjustment hinged support, a hydraulic rotating device mounting seat swings in a transverse plane by taking a hinged point between the hydraulic rotating device mounting seat and the grabbing mechanism mounting seat as a center, so that the transverse in-plane angle adjustment of an intermediate wall fixedly connected with the hydraulic rotating device is realized, then the intermediate wall to be installed is attached to the installed intermediate wall through a longitudinal moving oil cylinder, and the bottom surface of the intermediate wall is fixed after being lowered to an installation surface through a lifting oil cylinder;

and S9, connecting the wall bottom and the bolts between the walls, and taking out the grabbing mechanism after stabilization to finish a group of installation.

Technical Field

The invention relates to the technical field of shield tunnel construction, in particular to an intermediate wall used in a tunnel, and installation equipment and an installation method thereof.

Background

The intermediate wall is widely applied to subway tunnel construction at present, and can separate workpieces in a tunnel. The existing intermediate wall mainly comprises a T-shaped base and a prefabricated wall body; the T-shaped substrate is cast on the ground in the tunnel in a cast-in-place mode, and then the prefabricated wall body is installed on the T-shaped substrate through a transport tool.

At present, in order to install the intermediate wall of the above structure into a tunnel, generally, a T-shaped base is cast in the tunnel, and then a prefabricated wall prefabricated in advance is transported to an installation site by a flat transport vehicle; then grabbing the prefabricated wall body by using a manipulator for assembling, and adjusting the prefabricated wall body to a proper installation angle; further supporting and fixing the top of the prefabricated wall body by using a temporary supporting rod; and finally, pouring the prefabricated wall body and the T-shaped base into a whole in a pouring mode.

The related intermediate wall and the installation method of the intermediate wall have many disadvantages although being widely used. For example: due to the fact that the tunnel space is narrow, the construction period is easily prolonged by the mode that the T-shaped base is combined with the prefabricated wall; more supporting structures are needed to be adopted between the prefabricated wall body and the T-shaped base so as to avoid the prefabricated wall body from deviating relative to the T-shaped base; in addition, in the process of installing the intermediate wall, a T-shaped substrate is poured in the tunnel firstly, and the space in the tunnel is divided into two parts, so that the space for horizontal transportation in the tunnel is reduced, the difficulty degree in subsequent installation of the prefabricated wall is increased, the construction period is influenced, and the safety risk is increased; in addition, when the prefabricated wall body is installed on the T-shaped base, operations such as welding, cutting and secondary casting of steel bars are required, and these processes also affect the construction period and economic efficiency of the intermediate wall.

Disclosure of Invention

The invention aims to provide an intermediate wall used in a tunnel, which solves the problems that the existing intermediate wall needs to be poured on site for many times, the construction period is long and gaps are large in the assembly process of the intermediate wall.

The invention also aims to provide a mounting device for mounting the intermediate wall, so as to solve the problems of complex structure and inconvenient operation of the existing mounting device.

The invention further aims to provide an installation method for the intermediate wall, so as to solve the problems of long construction period and complicated operation steps of the existing installation method.

In order to solve the technical problems, the invention adopts the following technical scheme:

designing an intermediate wall used in a tunnel, which comprises a plurality of prefabricated intermediate walls sequentially spliced to form a wall body; the prefabricated intermediate wall comprises a bearing base and a prefabricated wall body; the prefabricated intermediate wall is of an integrated structure, and the prefabricated wall body is vertically fixed on the base; the prefabricated wall body splicing side is provided with a corresponding groove matching structure for realizing tight occlusion connection between adjacent prefabricated intermediate walls.

Preferably, the center of gravity of the prefabricated wall body is provided with an installation grabbing hole.

Designing a mounting device for mounting an intermediate wall, which comprises a bracket, a grabbing mechanism and a conveying mechanism; the bottom of the bracket is provided with a pulley, the pulley is driven to travel on the rail to move the whole machine to the construction and installation position of the intermediate wall, the bracket is provided with a lifting oil cylinder, the transportation mechanism comprises a slide rail mechanism fixed on a lever of the lifting oil cylinder of the bracket and a longitudinal moving mechanism matched with the slide rail mechanism in a sliding way, a longitudinal adjusting oil cylinder is connected with one longitudinal side of the longitudinal moving mechanism, the cylinder body of the longitudinal adjusting oil cylinder is arranged on a fixed frame at one side of the slide rail mechanism, a transverse adjusting oil cylinder is arranged in the middle of the longitudinal moving mechanism, the cylinder body of the transverse adjusting oil cylinder is arranged on the longitudinal moving mechanism, the grabbing mechanism is fixed on a lever of the transverse adjusting oil cylinder and comprises a mounting seat fixed on the lever of the transverse adjusting oil cylinder and an intermediate wall fixing seat connected with the mounting seat.

Preferably, the middle part of one side of the mounting seat is provided with a connecting hinged support, fine tuning hinged supports are further arranged on the mounting seats on the two sides of the connecting hinged support, and fine tuning oil cylinders are fixed on the fine tuning hinged supports.

Preferably, a rotary hydraulic device mounting seat is hinged to the connecting hinged support, and the rotary hydraulic device is connected with the mid-partition fixing seat and then mounted on the hydraulic device mounting seat.

Preferably, the hydraulic rotating device comprises a driving shaft connected with the intermediate wall fixing seat, a longitudinal fine adjustment oil cylinder fixed on the driving shaft and vertically connected with the intermediate wall fixing seat, and a rotating oil cylinder hinged with the driving shaft through a connecting component.

Preferably, the mid-board fixing seat is provided with a pin matched with the mid-board mounting grabbing hole.

An intermediate wall installation method is implemented based on the intermediate wall and the intermediate wall installation equipment, and comprises the following steps:

s1, the transport vehicle transports the prefabricated intermediate wall to a construction and installation designated position;

s2, driving the pulley at the bottom of the bracket by the mounting equipment for mounting the intermediate wall through a driving device, moving the whole machine to a specified position for mounting the prefabricated intermediate wall, and measuring the position relation between the grabbing mechanism and the intermediate wall to be mounted;

s3, adjusting a longitudinal adjusting oil cylinder and a transverse adjusting oil cylinder on the longitudinal moving mechanism and a lifting oil cylinder on a bracket to enable the center of a grabbing mechanism to coincide with an installation grabbing hole arranged on the middle partition wall, operating the transverse adjusting oil cylinder on the longitudinal moving mechanism to coincide a steel pin on a prefabricated middle partition wall fixing seat on the grabbing mechanism with the installation grabbing hole on the prefabricated middle partition wall, and inserting and fixing the steel pin;

s4, starting the support lifting oil cylinder, lifting the prefabricated middle partition wall to be separated from a transport vehicle, and driving the transport vehicle away from a construction installation position;

s5, continuously lifting the prefabricated middle partition wall to the central position of the upper space and the lower space of the tunnel through the support lifting oil cylinder;

s6, operating the transverse adjusting oil cylinder to move the prefabricated intermediate wall to the position of the center line of the tunnel;

s7, operating the hydraulic rotating device of the grabbing mechanism to enable the rotating oil cylinder to drive the driving shaft to rotate, so that the mid-partition installation base drives the mid-partition to be installed to rotate 90 degrees, and achieving an installation state;

s8, the mounting equipment travels to the position to be assembled through the stepping motor, and the transverse and longitudinal angles of the assembling posture of the middle partition wall are respectively finely adjusted; the angle in the longitudinal plane of the intermediate wall is adjusted to be consistent with the installed intermediate wall through the extension and retraction of a longitudinal fine adjustment oil cylinder in the hydraulic slewing device; through the extension and retraction of a fine adjustment oil cylinder hinged on a fine adjustment hinged support, a hydraulic rotating device mounting seat swings in a transverse plane by taking a hinged point between the hydraulic rotating device mounting seat and the grabbing mechanism mounting seat as a center, so that the transverse in-plane angle adjustment of an intermediate wall fixedly connected with the hydraulic rotating device is realized, then the intermediate wall to be installed is attached to the installed intermediate wall through a longitudinal moving oil cylinder, and the bottom surface of the intermediate wall is fixed after being lowered to an installation surface through a lifting oil cylinder;

and S9, connecting the wall bottom and the bolts between the walls, and taking out the grabbing mechanism after stabilization to finish a group of installation.

Compared with the prior art, the invention has the main beneficial technical effects that:

1. the invention shortens the construction period by utilizing the integrated middle partition wall structure, reduces the cost input, ensures that the middle partition walls are more tightly attached in the process of splicing two by the design of the splicing grooves, and increases the structural integrity of the whole middle partition wall of the tunnel.

2. The mounting equipment provided by the invention can be better applied to the mounting work of the intermediate wall, and the intermediate wall can be rapidly mounted in a narrow tunnel environment, so that the labor intensity of workers is reduced, and the construction period is further shortened.

3. The mounting method provided by the invention fully utilizes the characteristics of the mounting equipment and the intermediate wall provided by the invention, greatly improves the mounting speed of the intermediate wall, and also improves the mounting precision and the overall strength of the intermediate wall.

Drawings

Fig. 1 is a front view structural schematic diagram of a prefabricated intermediate wall.

Fig. 2 is a schematic top view of the prefabricated intermediate wall.

Fig. 3 is a structural schematic diagram of an operating state of the intermediate wall installation equipment.

Fig. 4 is a plan view of the intermediate wall installation apparatus.

Fig. 5 is a flow chart of the intelligent control visual servo control.

Fig. 6 is an intelligent control construction flow chart.

In the above figures, 1 is a prefabricated intermediate wall, 11 is a bearing base, 12 is a prefabricated wall body, 121 is a splicing groove, 2 is a mounting grabbing hole, 3 is a support, 31 is a pulley, 4 is a grabbing mechanism, 41 is a mounting seat, 5 is a conveying mechanism, 51 is a sliding rail mechanism, 52 is a longitudinal moving mechanism, 6 is a lifting oil cylinder, 7 is a longitudinal adjusting oil cylinder, 8 is a fixing frame, 9 is a transverse adjusting oil cylinder, 10 is a connecting hinged seat, 11 is a fine adjusting hinged seat, 12 is a fine adjusting oil cylinder, 13 is a rotary hydraulic device mounting seat, 14 is a rotary hydraulic device, and 15 is a prefabricated intermediate wall fixing seat.

Detailed Description

The following examples are intended to illustrate the present invention in detail and should not be construed as limiting the scope of the present invention in any way.

In the description of the technical solutions of the present invention, it should be understood that the orientations or positional relationships indicated as referring to the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc. are based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.

Example 1: an intermediate wall for use in a tunnel, referring to fig. 1 to 2, includes a plurality of prefabricated intermediate walls 1 sequentially arranged to form a wall body; the prefabricated intermediate wall 1 comprises a bearing base 11 and a prefabricated wall 12, the prefabricated intermediate wall 1 is of an integrated structure, and the prefabricated wall 12 is vertically fixed on the base 11; the bearing substrate 11 is bolted with the bottom arc-shaped part by adopting 20 sets of M36 screw rods, the bottom arc-shaped part is embedded with an M36 threaded sleeve, the substrate is also provided with a through hole for a bolt with a diameter of 66 and a counter bore with a diameter of 126, and the regulating quantity of the connecting bolt is 15mm on one side; near prefabricated wall 12 focus is provided with the installation and snatchs hole 2, the installation is snatched hole 2 and is isosceles triangle distribution, and diameter 70mm, prefabricated wall 12 is assembled the laminating side and still is provided with concave type splice groove 2 for realize the inseparable interlock between adjacent prefabricated mid-board 1 and connect.

Example 2: a mounting device for mounting an intermediate wall, see figures 3 to 4, comprises a bracket 3, a gripping mechanism 4 and a transport mechanism 5; the support 3 is placed on a rail through a pulley 31 arranged at the bottom of the support and used for driving the pulley 31 through a rail-mounted motor reducer to move the whole machine to a prefabricated intermediate wall construction installation position, and a conveying mechanism 5 is fixed to the upper portion of the support 3 through a lifting oil cylinder 6.

The transportation mechanism 5 comprises a slide rail mechanism 51 fixed on a rod 6 of the lifting oil cylinder of the bracket 3 and a longitudinal moving mechanism 52 matched with the slide rail mechanism 51 in a sliding manner, the slide rail mechanism 51 is fixed on a cylinder rod of the lifting oil cylinder 6 of the bracket and is used for adjusting the height position of the transportation mechanism 5 through the lifting oil cylinder 6 of the bracket, one side of the longitudinal moving mechanism 52 is connected with the cylinder rod of the longitudinal adjusting oil cylinder 7, the cylinder body of the longitudinal adjusting oil cylinder 7 is placed on a fixed frame 8 at one side of the slide rail mechanism 51, the middle part of the longitudinal moving mechanism 52 is provided with a transverse adjusting oil cylinder 9, the cylinder body of the transverse adjusting oil cylinder 9 is placed on the longitudinal moving mechanism 52, and a grabbing mechanism 4 is fixed on the cylinder rod of the transverse adjusting oil cylinder 9; one side of the grabbing mechanism mounting seat 41 is fixed on a cylinder rod of the transverse adjusting oil cylinder 9, the middle part of the other side of the grabbing mechanism mounting seat is provided with a connecting hinged seat 10, the mounting seats 41 on the two sides of the connecting hinged seat 10 are respectively and fixedly hinged with a fine adjusting oil cylinder 12 through a fine adjusting hinged seat 11, the connecting hinged seat 10 is fixedly hinged with a rotary hydraulic device mounting seat 13, a rotary hydraulic device 14 is fixed on the rotary hydraulic device mounting seat 13, and the hydraulic rotary device 4 comprises a driving shaft connected with the middle partition wall fixing seat 15, a longitudinal fine adjusting oil cylinder fixed on the driving shaft and vertically connected with the middle partition wall fixing seat 15 and a rotary oil cylinder hinged with the driving shaft through a connecting component; be equipped with prefabricated mid wall fixing base 15 on the gyration hydraulic means 14, be provided with on the prefabricated mid wall fixing base 15 with hole 2 matched with steel round pin is snatched in the installation, when snatching prefabricated mid wall, the steel round pin with hole 2 coincidence is snatched in the installation, makes prefabricated mid wall 1 closely laminate after inserting through the steel round pin on the prefabricated mid wall fixing base 15 to drive prefabricated mid wall 1 rotatory to vertical installation state by gyration hydraulic means 14, the other end of fine setting hydro-cylinder 12 is articulated fixed with the fine setting free bearing 11 of gyration hydraulic means mount 13 both sides for fine setting in the horizontal tangent plane of prefabricated mid wall 1 is realized to fine setting hydro-cylinder 12 through both sides.

Example 3: an intermediate wall installation method, implemented based on the intermediate wall and the intermediate wall installation apparatus in the above embodiments 1 and 2, comprising the steps of:

and S1, transporting the prefabricated intermediate wall 1 to a construction and installation designated position by a transport vehicle.

And S2, driving the bracket bottom pulley 31 by the mounting equipment for mounting the intermediate wall through a driving device, moving the whole machine to a specified position for constructing and mounting the prefabricated intermediate wall 1, and measuring the distance between the grabbing mechanism 4 and the intermediate wall 1 to be mounted.

And S3, adjusting the longitudinal adjusting oil cylinder 7 and the transverse adjusting oil cylinder 9 on the longitudinal moving mechanism 52 and the lifting oil cylinder 6 on the bracket 3, so that the center of the grabbing mechanism 4 coincides with the installation grabbing hole 2 arranged on the intermediate wall 1, operating the transverse adjusting oil cylinder 9 on the longitudinal moving mechanism, coinciding the steel pin on the prefabricated intermediate wall fixing seat on the grabbing mechanism with the installation grabbing hole on the prefabricated intermediate wall, and fixing after inserting.

And S4, starting the bracket lifting oil cylinder 6, lifting the prefabricated intermediate wall 1 to be separated from the transport vehicle, and driving the transport vehicle away from the construction installation position.

And S5, continuously lifting the prefabricated intermediate wall 1 to the central position of the upper and lower spaces of the tunnel through the bracket lifting cylinder 6.

And S6, operating the transverse adjusting oil cylinder 9 to move the prefabricated intermediate wall 1 to the position of the center line of the tunnel.

And S7, operating the hydraulic rotating device 14 of the grabbing mechanism 4 to enable the rotating oil cylinder to drive the driving shaft to rotate, so that the intermediate wall fixing seat 15 drives the intermediate wall 1 to be installed to rotate 90 degrees, and achieving an installation state.

S8, the mounting equipment travels to the position to be assembled through the stepping motor, and the transverse and longitudinal angles of the assembling posture of the mid-partition wall 1 are respectively finely adjusted; the angle in the longitudinal plane of the intermediate wall 1 is adjusted to be consistent with the angle of the installed intermediate wall through the extension and retraction of a longitudinal fine adjustment oil cylinder in the hydraulic rotary device 14; through the extension and retraction of a fine adjustment oil cylinder 12 hinged on a fine adjustment hinged support 11, a hydraulic rotating device mounting base 13 swings in a transverse plane by taking a hinged point between the hydraulic rotating device mounting base 41 and the grabbing mechanism mounting base as a center, so that the transverse in-plane angle adjustment of an intermediate wall fixedly connected with the hydraulic rotating device is realized, then the intermediate wall 1 to be mounted is attached to the mounted intermediate wall through a longitudinal moving oil cylinder 7, and the bottom surface of the intermediate wall is fixed after being lowered to a mounting surface through a lifting oil cylinder 6.

And S9, connecting the wall bottom and the bolts between the walls, and taking out the grabbing mechanism after stabilization to finish a group of installation.

Example 4: based on the mid-board installation equipment and the mid-board installation method, an intelligent control method is provided, referring to fig. 5 to 6, and the main implementation principle of the intelligent control is as follows: the multi-sensing information fusion positioning system comprises: the method comprises the steps of establishing a mounting machine coordinate system, carrying out coordinate transformation by taking a mechanical arm vision positioning system as a core, combining vision servo closed-loop control, assisting with laser ranging redundant information, and realizing real-time positioning of the partition wall in the mounting process through strong robust vision characteristic selection so as to carry out accurate position and attitude adjustment.

Automatic detection and perception: the intelligent installation of the intermediate wall is based on multi-sensing information fusion data, a mechanical arm vision positioning system arranged by an installing machine is utilized, detection elements such as a strong robust vision characteristic, a high-precision displacement sensor, a laser range finder, an optical sensor and the like are combined, actual relevant data are measured and detected, and the hydraulic oil cylinder is finally controlled and executed through software operation and analysis.

Automatic operation and analysis processing: external information is obtained through the multi-sensing information fusion positioning system, the high-performance industrial personal computer calculates and judges whether sensing meets working conditions in real time, information is analyzed through a mounting machine coordinate system, the collected pose error quantity is guided into the PLC to be calculated out to obtain the current control quantity, so that the hydraulic cylinder and other execution elements execute the current driving quantity, and the required working condition is achieved.

Automatic decision and action execution: and sending an instruction according to the coordinate system operation of the mounting machine and the PLC calculation, and finishing the working procedures of automatic centering and grabbing of the mid-partition mounting machine, automatic 90-degree rotation of the mid-partition, automatic walking of the mounting machine to a mounting position, fine adjustment of the mid-partition, mounting of the mid-partition and the like by the hydraulic control system by adopting a load-sensitive electric proportional control scheme until the mounting is finished.

Human-computer interaction and information storage: according to the collected information, the operation information and the execution information storage record, the whole machine system is divided into three parts for man-machine interaction and information storage: the grabbing mechanism, the installation intermediate wall and the hydraulic system. The related working information and parameters are displayed through a human-computer exchange interface, and the searching and the analysis are convenient.

The intelligent control system is divided into the following parts according to the construction sequence: the parallel posture adjustment of the intermediate wall, the grabbing and overturning of the intermediate wall, the fine adjustment and the assembling of the intermediate wall and the homing posture adjustment of the assembling machine are sequentially carried out.

Adjusting the parallel posture of the intermediate wall: the automobile carrying waits to install mid-board to appointed station, and mid-board erection equipment walks to zero station operating condition to carry out wireless communication with the mid-board, snatch four laser range finders of round pin axle installation through erection equipment, adjust the automobile carrying platform device, make mid-board and snatch mechanism parallel relatively and sideslip. And the grabbing mechanism, the pin shaft and five central hole positions of the intermediate wall are centered through the visual recognition camera and the laser ranging sensor.

Grabbing and overturning the intermediate wall: a positioning laser ranging sensor is utilized to complete the grabbing, pin penetrating and locking of the middle partition wall; according to a set program, the transport vehicle drives away after the middle partition wall is lifted; retracting the transverse oil cylinder, and transversely moving the intermediate wall to the position of the central line of the tunnel; the main frame lifting oil cylinder is lifted, and the middle partition wall is lifted to the position of the turnover horizontal center; the required elongation of the turnover oil cylinder is analyzed and calculated, and the middle partition wall rotates 90 degrees to reach a vertical state.

Fine adjustment and assembly of the posture of the intermediate wall: the laser range finders with two sets of 6-degree-of-freedom mechanical arms of the mounting machine are used for detecting and measuring the distance between the laser range finders and the mounted mid-partition wall by 200mm, and the laser range finders stop walking and reach a fine adjustment position; the two sets of mechanical arm systems are used for actively viewing the camera, projecting and identifying the structured light on the reference intermediate wall and the intermediate wall to be installed, calculating the relative pose information between the intermediate walls, and adjusting each posture position of the intermediate walls through closed-loop control to finish fine adjustment and assembly.

Adjusting the homing posture of the installation equipment: after the mid-board is assembled and is accomplished, suitable metal gasket is fixed temporarily to the bottom, fastens bolt between bottom bolt and the wall, and the operator presses the reset button, snatchs the round pin axle and breaks away from the mid-board, and erection equipment automatically move to zero-position operating position, waits for next process.

While the invention has been described in detail with reference to the drawings and examples, it will be understood by those skilled in the art that various changes in the details of the embodiments may be made without departing from the spirit of the invention, and various changes in the details of construction and materials may be substituted for elements thereof to form various embodiments, which are within the scope of the invention and are not intended to be limited to the details of the embodiments.