六自由度管片拼裝試驗臺的設計及研究
發(fā)布時間：2019-05-23 00:58
【摘要】：管片拼裝機是盾構實現(xiàn)隧道襯砌安裝的關鍵機械設備。在建設市政排水、通信電力和石油天然氣等小直徑隧道過程中,由于隧道斷面較小、導致人員進入盾構中工作不便,研制智能化、自動化的管片拼裝機成為重要課題。本文在詳細分析管片拼裝工藝、拼裝精度要求和運動特性基礎上,設計了一臺六自由度管片拼裝試驗臺。依據(jù)管片拼裝關鍵工作流程對拼裝試驗臺的回轉(zhuǎn)機構、平移機構、提升機構和微調(diào)機構進行結(jié)構設計,對零部件進行選型計算和壽命校核。通過三維建模仿真模擬了管片拼裝動作調(diào)整,驗證了結(jié)構設計的合理性。設計了試驗臺液壓系統(tǒng),詳細分析了徑向提升和姿態(tài)微調(diào)液壓回路特性。利用AMESim對液壓系統(tǒng)在不均勻載荷作用下的同步提升進行了仿真,結(jié)果表明通過采用分流集流閥控制提升油缸具有較高的同步性能,滿足試驗臺設計要求。運用D-H法和Jacobine矩陣速度法,對拼裝試驗臺的粗調(diào)機構運動學計算,得到粗調(diào)機構末端位置、速度和加速度。運用Adams軟件對管片拼裝試驗臺粗調(diào)機構運動學仿真,獲得粗調(diào)機構末端的運動學曲線,仿真曲線和運動分析結(jié)果基本一致,拼裝運動平穩(wěn),驗證設計的可靠性。對回轉(zhuǎn)至水平且活塞桿完全伸出時工況進行動力學仿真,獲得該工況下回轉(zhuǎn)支撐內(nèi)齒圈驅(qū)動扭矩及兩徑向提升油缸受力變化曲線,仿真結(jié)果與分析計算基本一致,驗證了結(jié)構設計和零部件的計算選型的正確性、合理性。建立管片拼裝試驗臺回轉(zhuǎn)系統(tǒng)和徑向提升系統(tǒng)的傳動誤差和提升油缸在不均勻載荷作用下管片橫搖角度誤差的計算模型,分析了試驗臺的運動精度和橫搖誤差。結(jié)果表明管片拼裝試驗臺的運動精度滿足工程使用要求,也為伺服系統(tǒng)精確控制提供理論依據(jù)。
[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.
【學位授予單位】：石家莊鐵道大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：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.
【學位授予單位】：石家莊鐵道大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TH137.5
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