六自由度管片拼装试验台的设计及研究
发布时间：2019-05-23 00:58
【摘要】：管片拼装机是盾构实现隧道衬砌安装的关键机械设备。在建设市政排水、通信电力和石油天然气等小直径隧道过程中,由于隧道断面较小、导致人员进入盾构中工作不便,研制智能化、自动化的管片拼装机成为重要课题。本文在详细分析管片拼装工艺、拼装精度要求和运动特性基础上,设计了一台六自由度管片拼装试验台。依据管片拼装关键工作流程对拼装试验台的回转机构、平移机构、提升机构和微调机构进行结构设计,对零部件进行选型计算和寿命校核。通过三维建模仿真模拟了管片拼装动作调整,验证了结构设计的合理性。设计了试验台液压系统,详细分析了径向提升和姿态微调液压回路特性。利用AMESim对液压系统在不均匀载荷作用下的同步提升进行了仿真,结果表明通过采用分流集流阀控制提升油缸具有较高的同步性能,满足试验台设计要求。运用D-H法和Jacobine矩阵速度法,对拼装试验台的粗调机构运动学计算,得到粗调机构末端位置、速度和加速度。运用Adams软件对管片拼装试验台粗调机构运动学仿真,获得粗调机构末端的运动学曲线,仿真曲线和运动分析结果基本一致,拼装运动平稳,验证设计的可靠性。对回转至水平且活塞杆完全伸出时工况进行动力学仿真,获得该工况下回转支撑内齿圈驱动扭矩及两径向提升油缸受力变化曲线,仿真结果与分析计算基本一致,验证了结构设计和零部件的计算选型的正确性、合理性。建立管片拼装试验台回转系统和径向提升系统的传动误差和提升油缸在不均匀载荷作用下管片横摇角度误差的计算模型,分析了试验台的运动精度和横摇误差。结果表明管片拼装试验台的运动精度满足工程使用要求,也为伺服系统精确控制提供理论依据。
[Abstract]:Segment assembly machine is the key mechanical equipment for shield tunnel lining installation. In the process of constructing small diameter tunnels such as municipal drainage, communication power, oil and gas, because of the small section of the tunnel, it is inconvenient for people to enter the shield machine, so it is an important subject to develop an intelligent and automatic segment assembly machine. Based on the detailed analysis of segment assembly technology, assembly accuracy requirements and motion characteristics, a six-degree-of-freedom segment assembly test bench is designed in this paper. According to the key work flow of segment assembly, the structure design of rotating mechanism, translation mechanism, hoisting mechanism and fine-tuning mechanism of assembly test-bed is carried out, and the selection calculation and life check of parts are carried out. The adjustment of segment assembly action is simulated by 3D modeling and simulation, and the rationality of structural design is verified. The hydraulic system of the test-bed is designed, and the characteristics of radial lifting and attitude fine-tuning hydraulic circuit are analyzed in detail. The synchronous lifting of hydraulic system under uneven load is simulated by AMESim. The results show that the control of lifting cylinder by shunt collector valve has high synchronization performance and meets the design requirements of the test-bed. Using D-H method and Jacobine matrix velocity method, the kinematic calculation of rough tuning mechanism is carried out, and the terminal position, velocity and acceleration of rough tuning mechanism are obtained. The kinematic simulation of rough tuning mechanism of segment assembly test-bed is carried out by using Adams software, and the kinematic curve at the end of rough tuning mechanism is obtained. the simulation curve is basically consistent with the results of motion analysis, the assembly motion is stable, and the reliability of the design is verified. The dynamic simulation of the working condition is carried out when the piston rod reaches horizontal and the piston rod extends completely, and the driving torque of the inner tooth ring of the rotary support and the stress change curve of the two radial lifting cylinders are obtained under this working condition. The simulation results are basically consistent with the analysis and calculation. The correctness and rationality of structural design and calculation and selection of parts are verified. The calculation models of the transmission error of the rotating system and the radial lifting system of the segment assembly test-bed and the rolling angle error of the lifting cylinder under the action of uneven load are established, and the motion accuracy and rolling error of the test-bed are analyzed. The results show that the motion accuracy of the segment assembly test-bed meets the requirements of engineering application, and also provides a theoretical basis for the accurate control of servo system.
【学位授予单位】：石家庄铁道大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TH137.5
[Abstract]:Segment assembly machine is the key mechanical equipment for shield tunnel lining installation. In the process of constructing small diameter tunnels such as municipal drainage, communication power, oil and gas, because of the small section of the tunnel, it is inconvenient for people to enter the shield machine, so it is an important subject to develop an intelligent and automatic segment assembly machine. Based on the detailed analysis of segment assembly technology, assembly accuracy requirements and motion characteristics, a six-degree-of-freedom segment assembly test bench is designed in this paper. According to the key work flow of segment assembly, the structure design of rotating mechanism, translation mechanism, hoisting mechanism and fine-tuning mechanism of assembly test-bed is carried out, and the selection calculation and life check of parts are carried out. The adjustment of segment assembly action is simulated by 3D modeling and simulation, and the rationality of structural design is verified. The hydraulic system of the test-bed is designed, and the characteristics of radial lifting and attitude fine-tuning hydraulic circuit are analyzed in detail. The synchronous lifting of hydraulic system under uneven load is simulated by AMESim. The results show that the control of lifting cylinder by shunt collector valve has high synchronization performance and meets the design requirements of the test-bed. Using D-H method and Jacobine matrix velocity method, the kinematic calculation of rough tuning mechanism is carried out, and the terminal position, velocity and acceleration of rough tuning mechanism are obtained. The kinematic simulation of rough tuning mechanism of segment assembly test-bed is carried out by using Adams software, and the kinematic curve at the end of rough tuning mechanism is obtained. the simulation curve is basically consistent with the results of motion analysis, the assembly motion is stable, and the reliability of the design is verified. The dynamic simulation of the working condition is carried out when the piston rod reaches horizontal and the piston rod extends completely, and the driving torque of the inner tooth ring of the rotary support and the stress change curve of the two radial lifting cylinders are obtained under this working condition. The simulation results are basically consistent with the analysis and calculation. The correctness and rationality of structural design and calculation and selection of parts are verified. The calculation models of the transmission error of the rotating system and the radial lifting system of the segment assembly test-bed and the rolling angle error of the lifting cylinder under the action of uneven load are established, and the motion accuracy and rolling error of the test-bed are analyzed. The results show that the motion accuracy of the segment assembly test-bed meets the requirements of engineering application, and also provides a theoretical basis for the accurate control of servo system.
【学位授予单位】：石家庄铁道大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TH137.5
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