阅读说明：本技术 盾构施工用弧形件安装装置及其安装方法 (Arc-shaped part mounting device for shield construction and mounting method thereof ) 是由 王玉祥 夏站辉 张辽 徐克洋 王洋 潘学军 张耿 王虬鹏 赵自力 陈�全 韩鹏 于 2021-08-18 设计创作，主要内容包括：本发明公开了一种盾构施工用弧形件安装装置及其安装方法,包括微调机构、主支架及副支架；所述主、副支架均包括框架梁,所述主支架框架梁纵梁上下对应设置有导轨槽,所述副支架框架梁横梁上下对应设置有滑轮组,所述滑轮组与导轨槽配合,以使所述主支架与副支架形成相互配合步进的位置关系；所述微调机构包括底座、支撑平台及角度调节件,所述底座固定连接在所述副支架框架梁上,所述支撑平台与角度调节件活动铰接安装在所述底座上。本发明供解决现有弧形件安装装置在盾构隧道内安装弧形件过程中,不能快速、准确的调整弧形件安装姿态,导致安装效率低、安装成本高的技术问题。(The invention discloses an arc-shaped part mounting device for shield construction and a mounting method thereof, wherein the arc-shaped part mounting device comprises a fine adjustment mechanism, a main bracket and an auxiliary bracket; the main support and the auxiliary support both comprise frame beams, guide rail grooves are correspondingly formed in the upper part and the lower part of a longitudinal beam of the frame beam of the main support, pulley blocks are correspondingly arranged in the upper part and the lower part of a beam of the frame beam of the auxiliary support, and the pulley blocks are matched with the guide rail grooves, so that the main support and the auxiliary support form a mutually matched and stepped position relationship; the fine adjustment mechanism comprises a base, a supporting platform and an angle adjusting piece, the base is fixedly connected to the auxiliary support frame beam, and the supporting platform is movably hinged to the angle adjusting piece and installed on the base. The invention solves the technical problems of low installation efficiency and high installation cost caused by the fact that the installation posture of the arc-shaped part cannot be adjusted quickly and accurately in the process of installing the arc-shaped part in the shield tunnel by using the existing arc-shaped part installation device.)

1. The arc-shaped part mounting device for shield construction is characterized by comprising a fine adjustment mechanism, a main bracket and an auxiliary bracket; the main support and the auxiliary support both comprise frame beams, guide rail grooves are correspondingly formed in the upper part and the lower part of a longitudinal beam of the frame beam of the main support, pulley blocks are correspondingly arranged in the upper part and the lower part of a beam of the frame beam of the auxiliary support, and the pulley blocks are matched with the guide rail grooves, so that the main support and the auxiliary support form a mutually matched and stepped position relationship; the fine adjustment mechanism comprises a base, a supporting platform and an angle adjusting piece, the base is fixedly connected to the auxiliary support frame beam, and the supporting platform and the angle adjusting piece are hinged to the base.

2. The arc-shaped piece mounting device for shield construction according to claim 1, wherein the base comprises a hydraulic cylinder and a slide rail matched with the supporting platform; the hydraulic pressure sets up between assistant's support frame and the base, the slide rail transversely sets up the base top.

3. The arc-shaped member installation device for shield construction according to claim 1, wherein the support platform comprises a traverse platform, a rotating platform and a rotating support member; the transverse moving platform is provided with a sliding groove, the sliding groove is matched with the sliding rail on the base, so that the transverse moving platform is connected to the base in a sliding mode, and the rotating platform is fixedly connected with the rotating support piece and then movably installed on the transverse moving platform.

4. The arc-shaped member installation device for shield construction according to claim 1, wherein the angle adjustment member includes a fixed end and a movable end; the fixed end is fixedly connected to the transverse moving platform, and the movable end is movably hinged to the rotating platform.

5. The arc-shaped piece mounting device for shield construction according to claim 1, wherein a clamping assembly is arranged at the bottom of the main bracket, and comprises a support, a hydraulic cylinder, a connecting rod and a clamping arm; the support is arranged on the main support frame beam and is movably hinged with the clamping arm, one end of the connecting rod is movably hinged with the hydraulic cylinder, and the other end of the connecting rod is movably hinged with the clamping arm.

6. The arc-shaped member installation device for shield construction according to claim 1, wherein telescopic legs are provided on both the main and auxiliary support frame beams, and the main support leg is provided inside the auxiliary support leg.

7. The arc-shaped member installation device for shield construction according to claim 6, wherein an integrated shoe is provided at the bottom of the main support leg.

8. An arc member installation method implemented based on the arc member installation apparatus for shield construction according to claim 1, comprising the steps of:

s1, assembling and debugging the arc-shaped part installation device for shield construction, and moving forwards;

s2, retracting the main support leg for a certain distance, supporting the auxiliary support leg for a certain force, advancing the main support for a certain distance, extending the main support leg for a certain distance, supporting the main support leg for a certain force, advancing the auxiliary support for a certain distance, and repeating the steps to step the arc-shaped part mounting device for shield construction to a preset position;

s3, the fine adjustment mechanism realizes the longitudinal adjustment of the platform through the stepping moving oil cylinder, so that the center of the platform of the fine adjustment mechanism is longitudinally overlapped with the center line of the arc-shaped piece to be installed;

s4, the fine adjustment mechanism realizes the horizontal adjustment of the platform through the horizontal moving oil cylinder, so that the center of the platform of the fine adjustment mechanism is horizontally superposed with the center line of the arc-shaped piece to be installed;

s5, after the fine adjustment mechanism platform is horizontally fixed, the auxiliary supporting oil cylinder of the arc-shaped piece mounting device extends out for a certain distance and levels the rack, and at the moment, the distance between the rubber supporting plate at the upper part of the fine adjustment mechanism platform and the lower surface of the upper plate beam of the arc-shaped piece at the joint is within 10 mm;

s6, four jacking oil cylinders arranged below the fine adjustment mechanism base are simultaneously lifted for a certain distance and jacked to an installation elevation state, and the jacking heights of the oil cylinders are independently adjusted according to the actual installation condition of the arc-shaped part;

s7, driving a rotary core disc by a rotary oil cylinder through a rotary platform of the fine adjustment mechanism to realize angle adjustment of the arc-shaped piece;

s8, the integral supporting shoes arranged at the bottoms of the main support legs utilize the oil cylinders arranged on the integral supporting shoes and the radian design of the supporting shoe bottom plates, and the telescopic oil cylinders are used for enabling the main support legs to move on the supporting shoe bottom plates, so that the elevation angle and the inclination angle of the platform are further adjusted;

s9, after the posture of the arc-shaped part is adjusted, the arc-shaped part is closed to a rear ring connection state by using the stepping oil cylinder, and the two arc-shaped parts are tightly connected by using the clamping assembly arranged at the bottom of the main support, so that the installation of the single arc-shaped part is completed.

Technical Field

The invention relates to the technical field of shield construction, in particular to an arc-shaped part mounting device for shield construction and a mounting method thereof.

Background

In recent years, the construction of tunnels and underground engineering in our country is rapidly developed, only taking railway tunnels as an example, statistics show that in the last 5 years, the mileage of newly increased railway tunnels in operation exceeds 1400km every year, which is equivalent to the growth speed of 4km every day. The shield method is an important method for building the tunnel, has the characteristics of high efficiency, rapidness, safety, reliability and the like, mainly because the automation degree of the processes of tunneling, deslagging, splicing, lining and the like of the shield is high, along with the development of shield construction, the tunnel is not limited to be spliced and formed by segment splicing machines, and along with the continuous development of assembly type building concepts and technologies, the internal structure of the tunnel is gradually changed from a cast-in-place mode to an assembly type mode.

The tunnel internal structure adopts the assembled construction technology, and has the following advantages:

1) the construction quality is high: the internal structure is prefabricated and produced in an industrial manner, so that the method has remarkable advantages in the aspects of resource management, production management, quality control and green construction, and compared with cast-in-place operation, the method has the advantages of good personnel operation environment, standardized structure manufacturing and maintenance and high structure quality;

2) the construction period has obvious advantages: the internal structure assembly type construction is basically synchronous with the tunneling construction, compared with the cast-in-place construction, the disturbance to other constructions is small, the difficulty of construction organization and material transportation is greatly reduced, and the civilized construction degree is greatly improved;

3) the mechanical automation degree is high: the prefabricated building is matched with corresponding construction equipment, so that the number of personnel is greatly reduced, the mechanization degree is high, and the construction efficiency is high.

The tunnel inner structure assembly type construction has more remarkable advantages for the shield tunnel advantages of long distance and large diameter, the technical level and the practicability of the matched mechanical tool influence the key of the assembly type construction effect, the development and development actions are flexible, the operation is simple, the assembling machine with certain intelligent level is particularly important, the tunnel inner structure assembly type construction method is greatly beneficial to improving the tunnel engineering construction quality and the management level, and the tunnel inner structure assembly type construction method has larger market demand in engineering.

Along with the increase of the diameter of the tunnel and the change of the design of the internal structure of the tunnel, corresponding internal structure construction methods are different, and higher requirements are provided for the bearing capacity, the freedom degree and the pose adjustment speed and precision of the arc-shaped piece mounting machine device. The arc-shaped part section installation device of the existing stage mainly takes translational motion as a main part and cannot adjust the position of the arc-shaped part in multi-angle freedom.

Disclosure of Invention

The invention aims to provide an arc-shaped part mounting device for shield construction and a mounting method thereof, and aims to solve the technical problems of low mounting efficiency and high mounting and construction cost caused by the fact that the mounting posture of an arc-shaped part cannot be adjusted quickly and accurately in the process of mounting the arc-shaped part in a shield tunnel by using the conventional arc-shaped part mounting device.

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

an arc-shaped part mounting device for shield construction is designed, and comprises a fine adjustment mechanism, a main bracket and an auxiliary bracket; the main support and the auxiliary support both comprise frame beams, guide rail grooves are correspondingly formed in the upper part and the lower part of a longitudinal beam of the frame beam of the main support, pulley blocks are correspondingly arranged in the upper part and the lower part of a beam of the frame beam of the auxiliary support, and the pulley blocks are matched with the guide rail grooves, so that the main support and the auxiliary support form a step-by-step matched position relation; the fine adjustment mechanism comprises a base, a supporting platform and an angle adjusting piece, the base is fixedly connected to the auxiliary support frame beam, and the supporting platform is movably hinged to the angle adjusting piece and installed on the base.

Preferably, the base comprises a hydraulic cylinder and a slide rail matched with the supporting platform; the hydraulic cylinder is fixedly connected and arranged between the auxiliary supporting frame and the base, and the sliding rail is transversely arranged at the top of the base.

Preferably, the supporting platform comprises a traversing platform, a rotating platform and a rotating support piece; the sideslip platform is provided with a sliding groove, the sliding groove is matched with a sliding rail on the base, so that the sideslip platform is connected to the base in a sliding mode, and the rotary platform and the rotary supporting piece are fixedly connected and movably mounted on the sideslip platform.

Preferably, the angle adjusting piece comprises a fixed end and a movable end; the fixed end is fixedly connected to the transverse moving platform, and the movable end is movably hinged to the rotating platform.

Preferably, the bottom of the main bracket is provided with a clamping assembly, and the clamping assembly comprises a support, a hydraulic cylinder, a connecting rod and a clamping arm; the support is fixedly arranged on the main support frame beam and is movably hinged with the clamping arm, one end of the connecting rod is movably hinged with the hydraulic cylinder, and the other end of the connecting rod is movably hinged with the clamping arm.

Preferably, telescopic supporting legs are arranged on the frame beams of the main support and the auxiliary support, and the supporting legs of the main support are arranged on the inner sides of the supporting legs of the auxiliary support.

Preferably, the bottom of the main support leg is provided with an integrated support shoe.

The arc-shaped part installation method for shield construction is designed and implemented based on the arc-shaped part installation device for shield construction, and comprises the following steps of:

s1, assembling and debugging the arc-shaped part installation device for shield construction, and moving forwards;

s2, retracting the main support leg for a certain distance, supporting the auxiliary support leg for stress, moving the main support forward for a proper distance, extending the main support leg for a certain distance, supporting the main support leg for stress, moving the auxiliary support forward for a corresponding distance, and repeating the steps to step the arc-shaped part mounting device for shield construction to a preset position;

s3, the fine adjustment mechanism realizes the longitudinal adjustment of the platform through the stepping moving oil cylinder, so that the center of the platform of the fine adjustment mechanism is longitudinally overlapped with the center line of the arc-shaped piece to be installed;

s4, the fine adjustment mechanism realizes the horizontal adjustment of the platform through the horizontal moving oil cylinder, so that the center of the platform of the fine adjustment mechanism is horizontally superposed with the center line of the arc-shaped piece to be installed;

s5, after the fine adjustment mechanism platform is horizontally fixed, the auxiliary supporting oil cylinder of the arc-shaped piece mounting device extends out for a certain distance and levels the rack, and at the moment, the rubber supporting plate at the upper part of the fine adjustment mechanism platform is within a certain range from the lower surface of the upper plate beam of the arc-shaped piece at the joint;

s6, four jacking oil cylinders arranged below the fine adjustment mechanism base are simultaneously lifted for a certain distance and jacked to an installation elevation state, and the jacking heights of the oil cylinders are independently adjusted according to the actual installation condition of the arc-shaped part;

s7, driving a rotary core disc by a rotary oil cylinder through a rotary platform of the fine adjustment mechanism to realize angle adjustment of the arc-shaped piece;

s8, the integral supporting shoes arranged at the bottoms of the main support legs utilize the oil cylinders arranged on the integral supporting shoes and the radian design of the supporting shoe bottom plates, and the telescopic oil cylinders are used for enabling the main support legs to move on the supporting shoe bottom plates, so that the elevation angle and the inclination angle of the platform are further adjusted;

s9, after the posture of the arc-shaped part is adjusted, the arc-shaped part is closed to a rear ring connection state by using the stepping oil cylinder, and the two arc-shaped parts are tightly connected by using the clamping assembly arranged at the bottom of the main support, so that the installation of the single arc-shaped part is completed.

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

1. the device can improve the installation efficiency of the arc-shaped part, shorten the construction period and save the production cost.

2. The method can quickly and accurately adjust various angles and installation postures of the arc-shaped part.

Drawings

Fig. 1 is a schematic structural view of an arc-shaped member installation device for shield construction of the present invention.

FIG. 2 is a schematic view of a clamping assembly according to the present invention.

In the drawing, 1 is a main support, 11 is a main support frame beam, 12 is a main support hydraulic leg, 121, a support shoe, 13 is a clamping assembly, 131 is a support, 132 is a hydraulic cylinder, 133 is a connecting rod, 134 is a clamping arm, 2 is a secondary support, 21 is a secondary support main frame beam, 22 is a secondary support hydraulic leg, 3 is a fine adjustment mechanism, 31 is a base, 32 is a supporting platform, 321 is a traverse platform, 322 is a rotary platform, 323 is a rotary support member, and 33 is an angle adjusting member.

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 arc-shaped part installation device for shield construction is disclosed, referring to fig. 1 to 2, and comprises a fine adjustment mechanism 3, a main bracket 1 and an auxiliary bracket 2; the main support 1 comprises a main support frame beam 11, a main support hydraulic support leg 12 and a clamping assembly 13; the main body of the main support frame beam 11 is a cuboid, longitudinal slide rails are correspondingly arranged above and below a longitudinal beam of the main support frame beam 11, the longitudinal slide rails are important parts for stepping of the arc-shaped part mounting device and are used for supporting a pulley block of the auxiliary support 2 and are divided into upper slide rails and lower slide rails, and the upper slide rails are used for supporting the working pressure of the arc-shaped part mounting device (the weight of an arc-shaped part is 36 tons), the weight of the auxiliary support 2 and the weight of the fine adjustment mechanism 3; the main support hydraulic support leg 12 is supported by an external guide sleeve and driven by a hydraulic cylinder, and is fixedly connected to four corners of the main support frame beam 11 perpendicular to the ground, because the main support hydraulic support leg 12 is supported on the inner side of a tunnel segment, two sides of a pipeline are slightly higher than the middle of the pipeline, and after the main support hydraulic support leg 12 is under pressure, a larger middle extrusion force is generated, an integrated support shoe 121 is installed on the lower portion of the main support hydraulic support leg 12, so that the main support hydraulic support leg 12 is prevented from being extruded and deformed when being under a transverse force, and the integrated support shoe 121 comprises a base plate with a radian, and the main support hydraulic support leg 12 is pushed by an oil cylinder arranged on the support shoe to move on the base plate with the radian support shoe, so that the elevation angle and the inclination angle of the fine tuning platform can be adjusted; when the arc-shaped part and the arc-shaped part are butted and assembled, a gap is generated between the arc-shaped part and the arc-shaped part, a clamping component 13 is arranged on a beam in the middle of the main support frame beam 12, the clamping component 13 comprises a support 131, a hydraulic cylinder 132, a connecting rod 133 and a clamping arm 134, the support 131 is fixedly connected to the beam of the main support frame beam 12 and is movably hinged with one end of the clamping arm 134 through a shaft pin, the telescopic end of the hydraulic cylinder 132 is movably hinged with one end of the connecting rod 133 through a shaft pin, the fixed end of the hydraulic cylinder 132 is fixed on the beam of the main support frame beam 12, and the other end of the connecting rod 133 is movably hinged with the clamping arm 134 through a shaft pin; the telescopic end of the hydraulic cylinder 132 is contracted to cause the clamping arm 134 to descend and contract, the bottoms of the two arc-shaped pieces are clamped and abutted, and the telescopic end of the hydraulic cylinder 132 is extended to cause the clamping arm 134 to expand and ascend.

The auxiliary support 2 comprises an auxiliary support frame beam 21 and an auxiliary support hydraulic support leg 22; the main body of the auxiliary support frame beam 21 is a cuboid, pulleys are correspondingly arranged on the upper cross beam and the lower cross beam of the auxiliary support frame beam 21, the upper pulleys and the lower pulleys arranged on the auxiliary support frame beam 21 are matched with the upper slide rails and the lower slide rails arranged on the main support frame beam 11 for use, so that the main body of the main support frame beam 11 is arranged between the upper pulleys and the lower pulleys arranged on the cross beam of the auxiliary support frame beam 21 in a penetrating manner, and the mutual matching stepping position relationship between the main support 1 and the auxiliary support 2 is formed; the auxiliary support hydraulic support legs 22 are supported by external guide sleeves, driven by hydraulic cylinders, and fixedly mounted at four angular positions of the auxiliary support frame beam 21 perpendicular to the ground, and the transverse arrangement distance of the auxiliary support hydraulic support legs 22 is larger than that of the main support hydraulic support legs 12.

The fine adjustment mechanism 3 comprises a base 31, a supporting platform 32 and an angle adjusting piece 33; four corners at the bottom of the base 31 are respectively provided with a hydraulic cylinder, the horizontal fine adjustment of the supporting platform 32 is realized by independently controlling the lifting of each hydraulic cylinder, and two transverse sliding rails are transversely arranged on the table surface of the base 31; the supporting platform 32 comprises a traverse platform 321, a rotating platform 322 and a rotating support 323, a sliding groove is arranged at the bottom of the traverse platform 321, the sliding groove is matched with two transverse sliding rails on the base 31, so that the traverse platform 321 is slidably connected to the base 31, an embedded hydraulic cylinder is arranged on the base 32, the telescopic end of the hydraulic cylinder is fixedly connected with the traverse platform 321 to provide power for the traverse platform 321 to transversely move on the base 31, and the rotating platform 322 is fixedly connected with the rotating support 323 and then is installed on the traverse platform 321; the angle adjusting piece 33 is set to be a hydraulic cylinder, the telescopic end of the hydraulic cylinder is movably hinged with the rotating platform 322, the other end of the hydraulic cylinder is fixedly connected to the transverse moving platform 321, and the angle adjusting piece 33 rotates by 3.8 degrees to the maximum.

Example 2: an arc-shaped part installation method for shield construction is implemented based on the arc-shaped part installation device in embodiment 1, and specifically comprises the following steps:

s1, assembling and debugging the arc-shaped part installation device for shield construction, and moving forwards;

s2, enabling the main support hydraulic leg 12 to contract for 450mm, enabling the auxiliary support hydraulic leg 22 to support and bear force, enabling the main support 1 to move forwards for 2m, enabling the main support hydraulic leg 12 to extend for 450mm, enabling the main support hydraulic leg 12 to support and bear force, enabling the auxiliary support 2 to move forwards for 2m, and repeating the steps to enable the arc-shaped part mounting device for shield construction to step to a preset position;

s3, the fine adjustment mechanism 3 realizes the longitudinal adjustment of the platform through the stepping moving oil cylinder, so that the center of the platform of the fine adjustment mechanism 3 is longitudinally overlapped with the center line of the arc-shaped piece to be installed;

s4, the fine adjustment mechanism 3 realizes the horizontal adjustment of the platform through the horizontal moving oil cylinder, so that the center of the platform of the fine adjustment mechanism 3 is horizontally superposed with the center line of the arc-shaped piece to be installed;

s5, after the platform of the fine adjustment mechanism 3 is horizontally fixed, the auxiliary supporting oil cylinder of the arc part mounting device extends by 500mm, and the rack is leveled, and at the moment, the distance between the rubber supporting plate at the upper part of the platform of the fine adjustment mechanism 3 and the lower surface of the upper plate beam of the arc part at the joint is within 10 mm;

s6, simultaneously lifting four pushing hydraulic cylinders 132 arranged below the fine adjustment mechanism base by 100mm to reach an installation elevation state, and independently adjusting the jacking height of the hydraulic cylinders 132 according to the actual installation condition of the arc-shaped part;

s7, the rotating platform 322 of the fine adjustment mechanism 3 drives the rotating core disc through the rotating oil cylinder to realize angle adjustment of the arc-shaped piece, the rotating angle is positive and negative 3.8 degrees, and the maximum adjusting distance of the arc-shaped piece is 319 mm;

s8, the integral supporting shoes 121 arranged at the bottoms of the main support legs are utilized, oil cylinders arranged on the integral supporting shoes and the radian design of the bottom plates of the supporting shoes 121 are utilized, the main support legs move on the supporting shoe bottom plates through telescopic oil cylinders, and the elevation angle and the inclination angle of the platform are further adjusted;

s9, after the posture of the arc-shaped part is adjusted, the arc-shaped part is closed to a rear ring connection state by using the stepping oil cylinder, and the two arc-shaped parts are tightly connected by using the clamping assembly 13 arranged at the bottom of the main support, so that the installation of the single arc-shaped part is completed.

Example 3: based on the arc-shaped part installation device for shield construction and the installation method thereof, an intelligent control method is provided:

the intelligent control principle is as follows: fine tuning measurement system (confidence data): establishing a coordinate system of the assembling machine, collecting data information of a fine adjustment measuring system, and sending position information of four corner points and a central point at the top of the arc-shaped piece to a hydraulic control system through the operation and analysis of intelligent control software, wherein the information is the relative displacement between the 6 degrees of freedom in the front-back direction, the left-right direction and the up-down direction of the self-defined coordinate system and an ideal position so as to carry out accurate position adjustment.

Automatic detection and perception: the intelligent assembly of the arc-shaped pieces is based on the data of a fine adjustment measuring system, actual relevant data are measured and detected by utilizing detecting elements such as a high-precision displacement sensor, a laser range finder, an obstacle avoidance sensor, a proximity switch, a limit switch and the like arranged on an assembling machine, and the hydraulic oil cylinder is finally controlled and executed through software operation and analysis.

Automatic operation and analysis processing: the external information is obtained through the fine adjustment measuring system, the high-performance industrial personal computer calculates and judges whether the sensing meets the working condition in real time, the information is analyzed by combining a mounting machine coordinate system, the collected pose error is led into the PLC to be resolved into the current control quantity, and therefore the current driving quantity is executed by the executing elements such as the hydraulic cylinder and the like, and the required working condition is further achieved.

Automatic decision and action execution: and sending an instruction according to the coordinate system operation and PLC calculation of the mounting machine, and finishing the working procedures of stepping walking, centering the center line of the tunnel, automatically adjusting the fine adjustment platform, automatically mounting the arc-shaped piece 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: fine setting platform, installation arc spare and 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 process flow is as follows: after the arc-shaped pieces are in place, the starting button is pressed, and the mounting machine immediately starts to automatically mount the arc-shaped pieces according to the construction sequence. The construction sequence is divided into installation machine stepping posture adjustment → fine tuning platform posture adjustment → arc-shaped part posture adjustment and installation → installation machine homing posture adjustment, after the installation, the installation machine automatically returns to the interior of the installed arc-shaped part to wait for the next procedure.

Adjusting the stepping posture of the mounting device: the safety of a front advancing area is detected by using laser range finders arranged at four spatial positions, namely the upper space, the lower space, the left space and the right space, at the head of the main frame; laser ranging sensors are arranged on two sides of the main frame and the auxiliary frame supporting legs, and the distance of the edge of the hollow window of the arc-shaped part is detected each time, so that the supporting legs can accurately land; the coincidence degree of the mounting machine and the center line of the tunnel (the center line of the arc-shaped piece) is automatically calculated and adjusted according to the detection distance of the sensor.

Fine adjustment of the platform attitude: the center points of the fine tuning platform and the arc-shaped part are coincided and adjusted (adjusted transversely and longitudinally) by adopting a laser ranging sensor, and the fine tuning platform is ensured to be parallel to the edge of the arc-shaped part; adjusting the fine tuning platform to be parallel to the surface of the arc-shaped piece to be installed and coincide with the axis through 4 vertical laser ranging sensors of the fine tuning platform; and adjusting the distance between the arc-shaped piece to be installed and the installed arc-shaped piece.

The posture of the arc-shaped part is adjusted and installed: after the arc-shaped piece is supported by the fine adjustment platform, a coordinate system of the assembling machine is established by taking the central point of the fine adjustment platform as an original point, and the position information of 4 angular points and the central point on the surface of the arc-shaped piece measured by the fine adjustment measuring system and the relative position relation (displacement) with an ideal assembling position are read, so that the attitude adjustment basis of the arc-shaped piece is taken as the basis.

Adjusting the homing posture of the mounting device: after the posture adjustment of the arc-shaped part is finished, after the work such as annular bolt fastening, bottom bolt supporting, wedge block fixing and the like is finished, the mounting machine presses a reset button, and the mounting machine automatically returns to the mounted arc-shaped part to wait for the next procedure.

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.