主梁型TBM推进机构力传递特性分析

发布时间：2018-04-03 07:56

本文选题：推进机构　切入点：偏载　出处：《华东交通大学》2014年硕士论文

【摘要】：全断面岩石隧道掘进机（简称TBM）关键子部件是推进机构，该装备工作于恶劣环境下的重载荷、大突变载荷及强烈振动载荷。若力传递均布性不好，容易引起偏载现象，必将导致推进机构的力分布异构，即其中某一个关节力过大，则容易造成油缸承担力过大，出现关节力极大的现象时，短期之内，只会影响推进油缸的工作寿命，长期处于极端的现象必将导致推进油缸的工作寿命变短；另外，作用在刀盘上的力分布不均，刀盘局部受力大，刀具损坏可能性大大增加，易于造成管片破裂、破损、错台。本文以主梁型TBM推进机构为研究对象，结合机器人机构学理论、并联机构的运动学及机构运动微分关系，主要开展了以下几个方面的研究： 1.阐述课题的研究背景和意义，综述国内外全断面岩石隧道掘进机、推进机构和力传递性能研究现状，并提出主要的研究内容。 2.通过对主梁型TBM在掘进过程中向前掘进的受力分析，归纳出推进机构必须克服的三个主要阻力，构建出推进机构力学模型，为后续推进机构力传递均布性分析提供了理论基础。引入力传递均布性的概念，再结合标准差公式来建立推进机构力传递均布特性评价指标。 3.运用SolidWorks建立了主梁型TBM的三维模型，再通过CAD画出其机构运动简图，结合运动学理论及机器人的微分关系，研究了推进机构位置和各构件速度的通用表达式，得出其速度雅可比矩阵，为下一章分析奠定了理论基础。 4.根据上章求出的雅克比矩阵，得到主梁型推进机构的力雅可比阵计算公式。再利用MATLAB编程来对力传递均布性进行仿真分析，得出其主要影响参数，并且通过均布性优劣对应的关节力最大值的大小进行对比，验证了评价指标的合理性。 5.基于分析力传递均布性的基础上，将以力传递均布性最优为目标，构建优化函数，对推进机构的结构尺寸参数进行优化，并给出MATLAB工具箱中的遗传算法的优化设计实例。
[Abstract]:The key sub-component of the full section rock tunnel tunneling machine (TBM) is the propulsion mechanism, which works in the heavy load, the large abrupt load and the strong vibration load under the harsh environment.If the distribution of force transfer is not good, it is easy to cause the phenomenon of eccentric load, which will lead to the heterogeneity of the force distribution of the propulsion mechanism, that is, if one of the joint forces is too large, it is easy to cause the excessive bearing force of the cylinder and the phenomenon of great joint force in the short term.It will only affect the working life of the propulsion cylinder, and the long-term extreme phenomenon will lead to the shortening of the working life of the propulsion cylinder. In addition, the forces acting on the cutter head are unevenly distributed, the local force on the cutter head is large, and the possibility of tool damage is greatly increased.Easy to cause segment rupture, breakage, stagger.In this paper, the main beam type TBM propulsion mechanism as the research object, combined with the robot mechanism theory, parallel mechanism kinematics and kinematic differential relationship, mainly carried out the following aspects of research:1.This paper expounds the research background and significance of the subject, summarizes the present research situation of full-section rock tunnel tunneling machine, propulsion mechanism and force transfer performance at home and abroad, and puts forward the main research contents.2.Through the force analysis of forward driving of main beam type TBM in the process of driving, the three main resistance that must be overcome by propulsion mechanism are summarized, and the mechanical model of propulsion mechanism is constructed, which provides a theoretical basis for the analysis of force transfer uniformity of subsequent propulsion mechanism.In this paper, the concept of force transfer uniformity is introduced, and the evaluation index of force transfer uniformity is established by combining the standard deviation formula.3.The three-dimensional model of the main beam type TBM is established by using SolidWorks, and then the kinematic diagram of the mechanism is drawn by CAD. Combined with the kinematics theory and the differential relation of the robot, the general expressions of the position of the propulsion mechanism and the velocity of each component are studied.The velocity Jacobian matrix is obtained, which lays a theoretical foundation for the next chapter.4.According to the Jacobian matrix obtained in the previous chapter, the force Jacobian matrix calculation formula of the main beam type propulsion mechanism is obtained.Then MATLAB programming is used to simulate and analyze the force transfer uniformity, and the main influence parameters are obtained, and the rationality of the evaluation index is verified by comparing the joint force maximum value corresponding to the uniform distribution.5.Based on the analysis of the force transfer uniformity, the optimization function is constructed to optimize the structural dimension parameters of the propulsion mechanism, and the optimization design example of the genetic algorithm in the MATLAB toolbox is given.
【学位授予单位】：华东交通大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：U455.31

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