摘要：【中文】一种与空心千斤顶配合的预应力钢筋螺母自动旋紧装置，是一套由内外三重筒状结构、导槽、传力齿轮等机构的总成，与空心千斤顶形成一个整体结构，三重套筒中外套筒固定，用于传递张拉力和提供中间套筒移动的自由度；中间套筒可绕其中心轴在外套筒卡位装置的引导下旋转；内套筒可在中间套筒之内沿轴向在中间套筒相关装置的引导下移动，内套筒和中间套筒之间不能产生相对旋转；由此，本发明能够完全替代传统在局促的空隙中旋紧预应力螺母的手工作业方式，同时，通过控制外部传导机构动力的大小，任意控制旋紧力矩或旋松力矩的大小，自动协同控制锁紧螺母的速率，克服人工作业的各种弊端，从而提高作业质量和效率。 【EN】An automatic screwing device of a prestressed reinforcement nut matched with a hollow jack is an assembly of an inner and outer triple cylindrical structure, a guide groove, a force transmission gear and other mechanisms, and forms an integral structure with the hollow jack, wherein an outer sleeve in a triple sleeve is fixed and is used for transmitting tension and providing the freedom degree of movement of an intermediate sleeve; the middle sleeve can rotate around the central shaft under the guidance of the outer sleeve clamping device; the inner sleeve can move in the middle sleeve along the axial direction under the guidance of the relevant device of the middle sleeve, and relative rotation can not be generated between the inner sleeve and the middle sleeve; therefore, the invention can completely replace the traditional manual operation mode of screwing the prestressed nut in the narrow gap, and simultaneously, the speed of the locking nut is automatically and cooperatively controlled by controlling the power of the external conduction mechanism and the screwing torque or unscrewing torque at will, thereby overcoming various defects of manual operation and improving the operation quality and efficiency.

摘要：【中文】一种基于形心跟踪和缝宽控制的预制装配式构件张拉方法，包括如下步骤：步骤一：建立橡胶密封垫中心线微段中心点坐标集Ω以及螺栓孔位中心点坐标集Π；步骤二：分别计算得到橡胶密封垫几何形心和橡胶密封垫反力形心；步骤三：计算千斤顶张拉力形心；步骤四：基于缝宽控制进行预制装配式构件的张拉；步骤五：基于形心跟踪进行预制装配式构件张拉；本发明能实现预制构件张拉时，橡胶密封垫受到均匀压缩，接缝各处的缝宽相同，从而提高大型预制构件拼装精度和预制装配式结构的建造质量。 【EN】A prefabricated component tensioning method based on centroid tracking and seam width control comprises the following steps: the method comprises the following steps: establishing a center point coordinate set omega of a center line micro-section of the rubber sealing gasket and a center point coordinate set pi of a bolt hole site; step two: respectively calculating to obtain a geometric centroid of the rubber sealing gasket and a counterforce centroid of the rubber sealing gasket; step three: calculating the tensile force centroid of the jack; step four: tensioning the prefabricated component based on seam width control; step five: tensioning the prefabricated component based on centroid tracking; the invention can realize that the rubber sealing gasket is uniformly compressed when the prefabricated part is stretched, and the seam widths of all the seams are the same, thereby improving the assembling precision of the large-scale prefabricated part and the construction quality of the prefabricated assembly type structure.

摘要：【中文】一种预制装配式构件接触面摩擦力反演方法，包括如下步骤：步骤一：通过图像信息识别橡胶密封垫中心线微段中心点坐标集与构件螺栓孔位中心坐标集；步骤二：确定千斤顶张拉力合力；步骤三：确定橡胶密封垫反力合力及反力形心；步骤三：确定摩擦力合力，摩擦力合力等于千斤顶张拉力合力与橡胶密封垫反力合力的差值；步骤五：计算确定预制构件不同接触面的摩擦力。本发明可现场直接测得各待拼装构件不同接触面的摩擦力，方便且适用广泛，通过确定的不同接触面的摩擦力，可校正和优化各张拉千斤顶的张拉力，提高预制构件的拼装的精度。 【EN】A prefabricated component contact surface friction force inversion method comprises the following steps: the method comprises the following steps: identifying a coordinate set of a center point of a micro-section of a center line of the rubber sealing gasket and a coordinate set of a hole site of a bolt of a member through image information; step two: determining the tension resultant force of the jack; step three: determining the resultant force of the rubber sealing gasket and the reaction centroid; step three: determining the resultant force of the friction force, wherein the resultant force of the friction force is equal to the difference between the resultant force of the tensile force of the jack and the resultant force of the counter force of the rubber sealing gasket; step five: and calculating and determining the friction force of different contact surfaces of the prefabricated parts. The invention can directly measure the friction force of different contact surfaces of each component to be assembled on site, is convenient and widely applicable, and can correct and optimize the tension force of each tensioning jack through the determined friction force of different contact surfaces, thereby improving the assembling precision of the prefabricated components.

摘要：【中文】一种预制装配式结构多点协同拼装系统及方法，其包含预制装配式地下结构拼装中控装备、多个拼装件上的液压千斤顶、多个设置于拼装件上的激光测距仪以及多个设置于目标件上的激光反射板，本发明利用构件中橡胶垫反力形心算法、基于形心跟踪和缝宽控制的张拉方法、装配式构件拼装摩阻力计算方法、多点协同通信和多模式保护方法、多点协同加载控制方法等方法及算法实现对不同千斤顶张拉时的张拉力、张拉速度同时不同量的精准输出控制，从而有效提高预制装配式构件拼装控制效果，保障拼装顺利、安全进行，实现精准输出控制，提高装配质量，规避结构损坏，且能有效提高预制装配式构件拼装控制效果。 【EN】A multi-point cooperative assembling system and method for prefabricated underground structure includes central control equipment for assembling prefabricated underground structure, hydraulic jacks on multiple assembling units, laser range finders on said assembling units and laser reflecting plates on target unit, and features that the precise output control of tension force and tension speed of different jacks at same time is realized by use of the algorithm of rubber pad reaction force centroid in member, the stretching method based on centroid tracking and seam width control, the calculation of friction resistance of assembled member, multi-point cooperative communication and multi-mode protection, and multi-point cooperative loading control, thereby effectively improve prefabricated component and assemble control effect, the guarantee is assembled smoothly, go on safely, realizes accurate output control, improves assembly quality, avoids structural damage, and can effectively improve prefabricated component and assemble control effect.

摘要：【中文】一种预制装配式构件密封垫非线性弹性反力形心算法，其包括如下步骤：步骤一：得到预制装配式构件的图像，步骤二：对得到的图像进行校正，步骤三：提取图像的关键信息，步骤四：校正图像中构件关键信息，步骤五：建立构件关键图像点的坐标集，步骤六：计算橡胶密封垫几何形心，步骤七：计算橡胶密封垫的反力形心；本发明计算构件之间设置的防水橡胶密封垫被张拉荷载压缩至不同状态情况下计算非线性特性材料的橡胶密封垫的整体弹性反力合力形心，从而确定张拉千斤顶下一时刻的张拉荷载，以逐步逼近装配式构件张拉的目标位置，并达到事先设定的接缝宽度且保证接缝宽度均匀。 【EN】A nonlinear elastic reaction centroid algorithm for a prefabricated component sealing gasket comprises the following steps: the method comprises the following steps: obtaining an image of the prefabricated component, and the second step: correcting the obtained image, and performing step three: extracting key information of the image, and step four: correcting key information of the components in the image, and performing the fifth step: establishing a coordinate set of key image points of the member, and carrying out a sixth step: and (5) calculating the geometric centroid of the rubber sealing gasket, and performing the seventh step: calculating the counter-force centroid of the rubber sealing gasket; the invention calculates the integral elastic reaction resultant force centroid of the rubber sealing gasket made of nonlinear characteristic materials under the condition that the waterproof rubber sealing gasket arranged between the components is compressed to different states by the tensioning load, thereby determining the tensioning load of the tensioning jack at the next moment so as to gradually approach the tensioning target position of the assembled component, and achieving the preset seam width and ensuring the seam width to be uniform.

摘要：【中文】一种基于差值控制的装配式构件拼装无级持续张拉控制方法，包括如下步骤，步骤一：确定预期线性断点张拉控制曲线，预制装配式构件拼装为N点协同控制，步骤二：确定预制装配式构件拼装断点张拉控制的实际监测值，步骤三：建立线性断点张拉控制预测方法，根据前期张拉控制监测数据以及历史张拉控制数据经验建立预测方法，从而实现对下一阶段张拉控制值的预测控制，从而实现无级持续张拉控制；由此，本发明根据已完成的结构拼装历史数据建立预测方法，提前给出下一步序的控制参数，并驱动拼装设备实现无级持续张拉控制。 【EN】A stepless continuous tension control method for assembling of an assembly type component based on difference control comprises the following steps: determining an expected linear breakpoint tension control curve, assembling prefabricated components into N-point cooperative control, and performing the following steps: determining an actual monitoring value of the tensioning control of the assembly breakpoint of the prefabricated component, and performing the third step: establishing a linear breakpoint tensioning control prediction method, and establishing a prediction method according to the early-stage tensioning control monitoring data and the historical tensioning control data experience, so that the prediction control of the tensioning control value of the next stage is realized, and the stepless continuous tensioning control is realized; therefore, the invention establishes a prediction method according to the completed structure assembly historical data, provides the control parameters of the next sequence in advance, and drives the assembly equipment to realize stepless continuous tensioning control.

摘要：【中文】一种基于多点协同算法的预制装配式地下结构拼装中控装备，包括辅液压泵站、主液压泵站、电磁比例阀、换向阀、电磁比例溢流阀、液压油箱、手动溢流阀、超高压电磁阀和中控设备通信主机，所述液压油箱为长方形且设置于下部，其他部件设置于液压油箱的上表面，所述主液压泵站为预制装配式地下结构拼装的主泵站，其与电磁比例阀、换向阀和电磁比例溢流阀连接组成主液压泵站系统，所述辅液压泵站与超高压电磁阀和手动溢流阀连接组成备用泵站系统；由此，本发明能实现对不同千斤顶张拉时的张拉力、张拉速度同时不同量的精准输出控制，从而提高装配质量，规避结构损坏，规避预制装配式结构长期运营的结构安全隐患。 【EN】A prefabricated underground structure assembling central control device based on a multipoint collaborative algorithm comprises an auxiliary hydraulic pump station, a main hydraulic pump station, an electromagnetic proportional valve, a reversing valve, an electromagnetic proportional overflow valve, a hydraulic oil tank, a manual overflow valve, an ultrahigh pressure electromagnetic valve and a central control device communication host, wherein the hydraulic oil tank is rectangular and is arranged at the lower part, other components are arranged on the upper surface of the hydraulic oil tank, the main hydraulic pump station is a prefabricated underground structure assembling main pump station and is connected with the electromagnetic proportional valve, the reversing valve and the electromagnetic proportional overflow valve to form a main hydraulic pump station system, and the auxiliary hydraulic pump station is connected with the ultrahigh pressure electromagnetic valve and the manual overflow valve to form a standby pump station system; therefore, the invention can realize the accurate output control of different quantities of tension force and tension speed when different jacks are tensioned, thereby improving the assembly quality, avoiding the structural damage and avoiding the structural potential safety hazard of long-term operation of the prefabricated structure.

摘要：【中文】一种基于多点协同的预制装配式构件拼缝宽度测量校准方法，将拼装件拼装至目标件的对应位置，所述目标件上横向对应设置多个张拉孔，各张拉孔分别设有张拉螺杆，所述张拉螺杆贯穿拼装件后连接有液压千斤顶，包含设置测量组件，确定测量参数，通过各激光测距仪进行测量并得到两侧测量值，根据两侧测量值确定两侧接缝宽度及中间位置接缝宽度，通过两侧接缝宽度及中间位置接缝宽度设置液压千斤顶的推进速度；由此，本发明对预制装配式构件拼缝宽度的激光测量值做垂直校正，以判断出两者之间的真实距离，规避因错误测量值造成控制误差带来的拼装不到位，构件损坏和出现质量缺陷等问题。 【EN】A prefabricated component splicing seam width measurement and calibration method based on multipoint coordination is characterized in that a splicing piece is spliced to a corresponding position of a target piece, a plurality of tensioning holes are transversely and correspondingly formed in the target piece, each tensioning hole is provided with a tensioning screw, the tensioning screw penetrates through the splicing piece and is connected with a hydraulic jack, a measurement component is arranged, measurement parameters are determined, measurement is carried out through each laser range finder to obtain two-side measurement values, the width of a seam on two sides and the width of a seam on the middle position are determined according to the two-side measurement values, and the propelling speed of the hydraulic jack is set according to the width of the seam on two sides and the width of the seam on the middle position; therefore, the laser measurement value of the splicing seam width of the prefabricated component is vertically corrected to judge the real distance between the prefabricated component and the laser measurement value, and the problems of incomplete splicing, component damage, quality defect and the like caused by control errors due to wrong measurement values are solved.

摘要：【中文】一种预制装配式地下结构拼装多点协同通信和多模式保护方法，包含多个结构缝宽监测传感器、多个缝宽监测通信模块、预制装配式地下结构拼装中控装备和多个锚头控制通信模块，多个空心千斤顶设置于拼装件，具体步骤如下：步骤一：设备预检测；步骤二：油温预监测；步骤三：目标件和拼装件之间的结构缝宽监测；步骤四：通过多个位置的结构缝宽监测数据确定多个空心千斤顶进行张拉；步骤五：张拉中油压的实时监测；由此，本发明能稳定的、不间断的、高效的，并能够实现多点测量、多点加载控制的协同通信方法以及保障拼装顺利、安全进行，并实现预制装配式结构自动、可靠、安全地拼装控制。 【EN】A prefabricated underground structure assembly multipoint cooperative communication and multi-mode protection method comprises a plurality of structure seam width monitoring sensors, a plurality of seam width monitoring communication modules, prefabricated underground structure assembly central control equipment and a plurality of anchor head control communication modules, wherein a plurality of hollow jacks are arranged in an assembly piece, and the method specifically comprises the following steps: the method comprises the following steps: pre-detecting equipment; step two: pre-monitoring the oil temperature; step three: monitoring the structural seam width between the target piece and the assembled piece; step four: determining a plurality of hollow jacks to stretch according to the monitoring data of the structural seam widths at a plurality of positions; step five: monitoring the oil pressure in tensioning in real time; therefore, the invention can realize stable, uninterrupted and efficient cooperative communication method of multi-point measurement and multi-point loading control, ensure that assembly is carried out smoothly and safely, and realize automatic, reliable and safe assembly control of the prefabricated structure.

摘要：【中文】一种预制装配式地下结构拼装多点协同加载控制方法，其包含如下步骤：步骤一：将待拼装的拼装件通过龙门吊吊装到施工位置并安装；步骤二：确定测量参数；步骤三：通过各激光测距仪进行测量并得到两侧的测量值，根据两侧测量值确定拼装件和目标件的接缝宽度，若接缝宽度相等则拼装件和目标件相互平行，若拼缝宽度不相等则拼装件和目标件相互不平行；步骤四：通过接缝宽度设置各位置液压千斤顶的推进速度；由此，本发明，实现多点张拉点千斤顶的协同控制工作，从而提高装配质量，规避结构损坏，规避预制装配式结构长期运营的结构安全隐患。 【EN】A prefabricated underground structure assembly multipoint collaborative loading control method comprises the following steps: the method comprises the following steps: hoisting the assembled parts to be assembled to a construction position through a gantry crane and installing; step two: determining a measurement parameter; step three: measuring by each laser range finder to obtain measured values of two sides, determining the widths of the joints of the assembled piece and the target piece according to the measured values of the two sides, wherein the assembled piece and the target piece are parallel to each other if the widths of the joints are equal, and the assembled piece and the target piece are not parallel to each other if the widths of the joints are not equal; step four: setting the propelling speed of the hydraulic jack at each position according to the width of the joint; therefore, the multi-point tensioning jack realizes the cooperative control work of the multi-point tensioning jack, thereby improving the assembly quality, avoiding the structural damage and avoiding the structural potential safety hazard of long-term operation of a prefabricated assembly type structure.