Research On Key Technology For Thrust System Of Shield Tunneling Machine

The shield tunnelling machine is a type of complicated engineering equipment that is widely applied in the underground tunnel excavation, which is related with subjects of machinery, electronics, hydraulics, measurement and control. With the development of economic and society and urbanized advancement quickening,the demand for shield tunnelling machines is increasing. Therefore, it has the important practical application value to develop fundamental research with key technologies of shield design and manufacture and to discuss shield design method.Shield hinge equipment is a key part of the thrust hydraulic system about the shield tunnelling machine. Not only being utilized in the curve tunneling about the shield small radius but also in correcting shield tunneling direction, it is a key part which can guarantee the shield tunnelling machine to be pushed along the given design route accurately. Shield hinge equipments may be divided into active hinge equipment and passive hinge equipment. The following questions are studied by taking the active hinge equipment as the object.Firstly, the research background and the significance of the topic are elaborated. And the history and current research status of the shield tunnelling machine are introduced based on lots of the publications and conference papers. The research and the goal of the project are put forward.Secondly, taking earth pressure balanced shield with hinge equipments as research object, composition of shield hinge mechanism is analyzed and its kinematic problem is studied. And the inverse result of kinematics for the shield hinge equipment is obtained and one-degree inverse coefficient matrix of the impact, two-degree inverse coefficient matrix of the impact and the expression of velocity, acceleration for every component are calculated, all of these lay the foundation for the following kinetics of the shield hinge equipment.Thirdly, the control problem of the shield hinge equipment is studied and controllability of driving force of hydraulic cylinder to terminal force is discussed. According to the result, the feasible movement and unfeasible movement are confirmed and the kinematics curves of the feasible movement are obtained.Fourthly, the static stiffness of the shield hinge equipment is studied and its static stiffness model based on the linear superposition of a number of factors is obtained. Given the result above, the statics of the shield hinge equipment is analyzed.Fifthly, Dynamics of shield hinge equipments is studied and dynamic equation is built with Kane Method. When the groove loop of shield hinge equipments move with the same velocity and acceleration, the changed situation of driving force of hydraulic cylinder is studied. And simulation curves of the driving force are given to prove the dynamic model proper. The dynamic model is the base of hydraulic control.Finally, some conclusions and summary are given and the next work is put forward.