發(fā)布時(shí)間：2018-04-03 07:56

  本文選題：推進(jìn)機(jī)構(gòu)　切入點(diǎn)：偏載　出處：《華東交通大學(xué)》2014年碩士論文

【摘要】：全斷面巖石隧道掘進(jìn)機(jī)（簡(jiǎn)稱(chēng)TBM）關(guān)鍵子部件是推進(jìn)機(jī)構(gòu)，該裝備工作于惡劣環(huán)境下的重載荷、大突變載荷及強(qiáng)烈振動(dòng)載荷。若力傳遞均布性不好，容易引起偏載現(xiàn)象，必將導(dǎo)致推進(jìn)機(jī)構(gòu)的力分布異構(gòu)，即其中某一個(gè)關(guān)節(jié)力過(guò)大，則容易造成油缸承擔(dān)力過(guò)大，出現(xiàn)關(guān)節(jié)力極大的現(xiàn)象時(shí)，短期之內(nèi)，只會(huì)影響推進(jìn)油缸的工作壽命，長(zhǎng)期處于極端的現(xiàn)象必將導(dǎo)致推進(jìn)油缸的工作壽命變短；另外，作用在刀盤(pán)上的力分布不均，刀盤(pán)局部受力大，刀具損壞可能性大大增加，易于造成管片破裂、破損、錯(cuò)臺(tái)。本文以主梁型TBM推進(jìn)機(jī)構(gòu)為研究對(duì)象，結(jié)合機(jī)器人機(jī)構(gòu)學(xué)理論、并聯(lián)機(jī)構(gòu)的運(yùn)動(dòng)學(xué)及機(jī)構(gòu)運(yùn)動(dòng)微分關(guān)系，主要開(kāi)展了以下幾個(gè)方面的研究： 1.闡述課題的研究背景和意義，綜述國(guó)內(nèi)外全斷面巖石隧道掘進(jìn)機(jī)、推進(jìn)機(jī)構(gòu)和力傳遞性能研究現(xiàn)狀，并提出主要的研究?jī)?nèi)容。 2.通過(guò)對(duì)主梁型TBM在掘進(jìn)過(guò)程中向前掘進(jìn)的受力分析，歸納出推進(jìn)機(jī)構(gòu)必須克服的三個(gè)主要阻力，構(gòu)建出推進(jìn)機(jī)構(gòu)力學(xué)模型，為后續(xù)推進(jìn)機(jī)構(gòu)力傳遞均布性分析提供了理論基礎(chǔ)。引入力傳遞均布性的概念，再結(jié)合標(biāo)準(zhǔn)差公式來(lái)建立推進(jìn)機(jī)構(gòu)力傳遞均布特性評(píng)價(jià)指標(biāo)。 3.運(yùn)用SolidWorks建立了主梁型TBM的三維模型，再通過(guò)CAD畫(huà)出其機(jī)構(gòu)運(yùn)動(dòng)簡(jiǎn)圖，結(jié)合運(yùn)動(dòng)學(xué)理論及機(jī)器人的微分關(guān)系，研究了推進(jìn)機(jī)構(gòu)位置和各構(gòu)件速度的通用表達(dá)式，得出其速度雅可比矩陣，為下一章分析奠定了理論基礎(chǔ)。 4.根據(jù)上章求出的雅克比矩陣，得到主梁型推進(jìn)機(jī)構(gòu)的力雅可比陣計(jì)算公式。再利用MATLAB編程來(lái)對(duì)力傳遞均布性進(jìn)行仿真分析，得出其主要影響參數(shù)，并且通過(guò)均布性?xún)?yōu)劣對(duì)應(yīng)的關(guān)節(jié)力最大值的大小進(jìn)行對(duì)比，驗(yàn)證了評(píng)價(jià)指標(biāo)的合理性。 5.基于分析力傳遞均布性的基礎(chǔ)上，將以力傳遞均布性最優(yōu)為目標(biāo)，構(gòu)建優(yōu)化函數(shù)，對(duì)推進(jìn)機(jī)構(gòu)的結(jié)構(gòu)尺寸參數(shù)進(jìn)行優(yōu)化，并給出MATLAB工具箱中的遺傳算法的優(yōu)化設(shè)計(jì)實(shí)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.
【學(xué)位授予單位】：華東交通大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2014
【分類(lèi)號(hào)】：U455.31

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