Design and Stiffness Analysis of the Partial-face TBM Propulsion Mechanism

Cui Guangzhen; Lu Hua; Xiao Yanqiu; Cen Yaping; Sun Chunya; Wang Pengpeng

doi:10.16578/j.issn.1004.2539.2023.02.008

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Design and Stiffness Analysis of the Partial-face TBM Propulsion Mechanism

Design· Calculation | 更新时间：2023-02-25

- Design and Stiffness Analysis of the Partial-face TBM Propulsion Mechanism
- Journal of Mechanical Transmission Vol. 47, Issue 2, Pages: 60-69(2023)
- 作者机构：
  
  郑州轻工业大学机电工程学院，河南郑州 450002
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2023.02.008
  CLC：
- Published：15 February 2023，
  
  Received：10 August 2022，
  
  Revised：23 August 2022，
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崔光珍,路华,肖艳秋等.部分断面TBM推进机构的设计及刚度性能分析[J].机械传动,2023,47(02):60-69.

Cui Guangzhen,Lu Hua,Xiao Yanqiu,et al.Design and Stiffness Analysis of the Partial-face TBM Propulsion Mechanism[J].Journal of Mechanical Transmission,2023,47(02):60-69.
崔光珍,路华,肖艳秋等.部分断面TBM推进机构的设计及刚度性能分析[J].机械传动,2023,47(02):60-69. DOI： 10.16578/j.issn.1004.2539.2023.02.008.

Cui Guangzhen,Lu Hua,Xiao Yanqiu,et al.Design and Stiffness Analysis of the Partial-face TBM Propulsion Mechanism[J].Journal of Mechanical Transmission,2023,47(02):60-69. DOI： 10.16578/j.issn.1004.2539.2023.02.008.

摘要

针对部分断面掘进机串联支撑机构刚度弱、异形TBM断面适应性差、开挖盲区难以处理等问题，设计了基于6-SPS并联机构的部分断面TBM推进机构，提出了考虑平台局部柔性的刚度预估模型建立方法。首先，初选地质条件，根据总推力预测模型确定推进反力、设计推进机构，在逆向运动学的基础上，采用直角坐标边界搜索法计算机构的位置工作空间；然后，通过推导支链与平台的微小位移映射，考虑支链柔性，将动平台重力视为外载荷，使用有限元软件识别平台与支链接触处的柔度系数，建立了推进机构半解析静刚度模型，借助有限元软件验证了模型的准确性；最后，对比分析了平台局部柔性对刚度性能的影响。结果表明，考虑平台局部柔性的刚度模型更精确。研究为部分断面TBM推进机构的设计及样机研制提供了理论基础。

Abstract

Aiming at the weak stiffness of the series support mechanism of the partial-face boring machine

poor adaptability of the non-circular TBM section

and difficulties in dealing with the blind area of excavation

a partial-face TBM propulsion mechanism based on the 6-SPS parallel mechanism is designed

and a stiffness prediction model establishment method considering the local flexibility of the platform is proposed. Firstly

the geological conditions is selected

the propulsion reaction force is calculated according to the total thrust prediction model

and the propulsion mechanism is designed. On the basis of inverse kinematics; the rectangular coordinate boundary search method is used to calculate the position workspace of the mechanism. Then

by deriving the micro-displacement mapping between branch chain and the platform

the branch chain is considered

the gravity of the moving platform is regarded as an external load

and the finite element software is used to identify the flexibility coefficient at the contact point between the platform and the branch chain; a semi-analytical static stiffness model of the propulsion mechanism is established

which is verified by the finite element software. Finally

the influence of the local flexibility of the platform on the stiffness performance is compared and analyzed

and the results show that the stiffness model considering the local flexibility of the platform is more accurate. This study provides a theoretical basis for the design and development of the partial-face TBM propulsion mechanism.

关键词

部分断面TBM并联机构工作空间刚度性能

Keywords

Partial-face TBMParallel mechanismWorkspaceStiffness performance

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