盾构管片自动拼装技术研究现状与展望

doi:10.3901/JME.2025.19.183

摘要/Abstract

摘要： 管片拼装是盾构施工必不可少的关键环节，人工拼装管片方式效率低、安全风险高、拼装质量参差不齐，实现管片拼装流程自动化对于提高盾构隧道施工质量、提升作业效率、促进地下工程建造智能化具有重要意义。基于国内外学者在管片自动化拼装方面开展的研究工作，从管片自动排版、管片自动感知、拼装机自动运动、拼装机自动伺服控制4个方面进行了梳理总结，分析了管片自动拼装各方面的关键技术研究进展和不足。管片排版目的分为设计排版和施工期拼装点位选取，施工选点主要采用管片轴线拟合盾构机姿态，考虑参数有盾尾间隙、推进油缸行程差，但其权重系数的确定对施工经验依耐性较强；管片位姿感知方法分为接触式测量和非接触式测量，非接触式测量中基于图像的目标检测技术效果较佳，其算法精度及效率仍有待提高；描述拼装机机械臂位姿及运动主要采用D-H法，轨迹规划侧重于采用多项式曲线对运动路径进行平滑处理，减小对拼装机关节的磨损，管片拼装机正朝着具有冗余自由度的并联机构方向发展，其拼装效率和精度更佳；拼装机伺服系统采用比例阀控制精度较高，多轴联动的控制策略可有效提升管片拼装效率。最后对现有研究不足进行了探讨，并提出新的见解和方向。研究可为进一步提升管片自动化拼装技术和促进地下工程设备智能化提供参考。

关键词: 盾构管片, 自动拼装, 管片排版, 视觉感知, 轨迹规划, 控制系统

Abstract: Segment assembly is an essential process in shield construction. The artificial manipulation is ineffective, high-risk and irregular in its quality. It is of great significance to automate the segment assembly process for improving the construction quality of shield tunnel, increasing the operating efficiency and promoting the intelligent construction of underground engineering. Based on the research work carried out by domestic and foreign scholars in the automatic assembling of segments，the article summarizes the research work from four aspects：including auto-selection, automatic perception, automatic movement of assembly machines, and automatic servo system of assembly machines. The article analyzes the research progress and shortcomings of the key technologies in various aspects of automatic segment assembly. The purpose of segment selection is divided into design stage typesetting and assembly point selection in construction period. Assembly point selection mainly uses the segment axis to fit shield machine attitude. The parameters include gap of shield tail and stroke difference of propulsion cylinder, but their weight coefficient determination is strongly dependent on construction experience. Pose perception of segment method is divided into contact measurement and non-contact measurement. The image-based target detection technology in non-contact measurement is better, but its algorithm accuracy and efficiency still need to be improved. The D-H method is mainly used to describe the pose and motion of the mechanical arm. The trajectory planning focuses on using polynomial curves to smooth the motion path to reduce the abrasion of the machine joints. The segment assembly machine is developing towards the direction of parallel mechanism with redundant degrees of freedom, and its assembly efficiency and accuracy are better. The servo system of the assembly machine controlled by the proportional valve has high accuracy, and multi-axis motion can improve the efficiency of segment assembly. Finally, the deficiencies of research are discussed, and new insights and directions are proposed. The research can provide reference for further improvement of the automatic assembly technology of segments and promotion of the intellectualization of underground engineering equipment.

Key words: shield tunnel segment, automatic assembly, segment typesetting, visual perception, trajectory planning, control system

中图分类号:

TP23

柳献, 胡秋斌, 朱雁飞, 翟一欣, 黄德中. 盾构管片自动拼装技术研究现状与展望[J]. 机械工程学报, 2025, 61(19): 183-201.

LIU Xian, HU Qiubin, ZHU Yanfei, ZHAI Yixin, HUANG Dezhong. Research Status and Prospect of Automatic Shield Segment Assembly Technology[J]. Journal of Mechanical Engineering, 2025, 61(19): 183-201.

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