机械工程学报 >

2018 , Vol. 54 >Issue 1: 56 - 65

DOI: https://doi.org/10.3901/JME.2018.01.056

特邀专栏:硬岩掘进装备(TBM)的关键基础问题

全断面岩石隧道掘进机支撑-推进-换步机构静刚度分析

  • 王晓龙 ,
  • 杨玉虎 ,
  • 黄田
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  • 天津大学机构理论与装备设计教育部重点实验室 天津 300072
王晓龙,男,1989年出生,博士研究生。主要研究方向为机器人机构学。E-mail:wxltju@tju.edu.cn;黄田,男,1953年出生,教授,博士研究生导师。主要研究方向为制造装备与系统,机器人学,机械动力学。E-mail:tianhuang@tju.edu.cn

收稿日期: 2017-04-30

  修回日期: 2017-10-14

  网络出版日期: 2018-01-05

基金资助

国家重点基础研究计划（973计划，2013CB035403）和国家高技术研究发展计划（863计划，2012AA041803）资助项目。

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Stiffness Analysis of an Open Tunnel Boring Machine Gripping-thrusting-regripping Mechanism

  • WANG Xiaolong ,
  • YANG Yuhu ,
  • HUANG Tian
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  • Key Laboratory of Mechanisms Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin 300072

Received date: 2017-04-30

  Revised date: 2017-10-14

  Online published: 2018-01-05

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摘要

针对全断面岩石隧道掘进机（Tunnel boring machine，TBM）在施工作业过程中掘进轨迹经常偏离预设轨迹、严重影响掘进精度及效率的问题，研究其支撑-推进-换步机构刚度半解析建模方法。从分析机构的变形协调条件入手，构造出计及所有支链构件及末端自身弹性贡献的半解析静刚度模型，该模型综合考虑了复杂物理边条（围岩）、机械系统刚度及液压系统刚度。通过算例揭示整机静刚度在掘进全域随位姿的变化规律，并借助有限元分析软件验证了所建模型的正确性。

关键词： TBM支撑-推进-换步机构; 静刚度分析; 半解析静刚度

本文引用格式

王晓龙 , 杨玉虎 , 黄田 . 全断面岩石隧道掘进机支撑-推进-换步机构静刚度分析[J]. 机械工程学报, 2018 , 54(1) : 56 -65 . DOI: 10.3901/JME.2018.01.056

Abstract

To solve the problem that trajectories often deviate from the default trajectory in the construction process of tunnel boring machine (TBM), which seriously affects the accuracy and efficiency of tunneling, a semi-analytical stiffness model of the gripping-thrusting-regripping mechanism is formulated by analyzing the deformation compatibility conditions. This stiffness model accounts for the compliances of all limb components and moving platform, and considers the complex physical boundary condition (surrounding rock) and mechanical system stiffness and rigidity of the hydraulic system. The computational results are validated by finite element software.

Key words： TBM gripping-thrusting-regripping mechanism; stiffness analysis; semi-stiffness

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