Research On The Rigid-Flexible Coupling Dynamics For The Segment Erector Of Shield Tunneling Machine

With the national key basic research and development program (973program)——“Control Technology of shield segment assembly (No.2012CB724306)”, this paper analysesthe segment erector in Ф6.29m shield tunneling machine. Because there are somedifferences between the segment erector that we have designed and the commonly used one,the rigid-flexible coupling technology was applied to analyze the design schem of this paper.With the key components flexible, dynamic simulation was operated. The effect of flexibledeformation on the accuracy of the assembly was considered so that the simulation resultscame closer to the reality. The main contents of this paper include the following aspects:(1) By extensively reviewing the relevant literature, the present situation of researchand application of segment erection in shield tunneling machine was summarized. Theresearch methods and stage of experts and scholars at home and abroad on structureinnovation, simulation analysis of the segment erector and its important parts and assemblycontrol strategy were recommended. The existing problems and development direction ofdomestic segment erectors were discussed. According to the analysis of the workingprinciple of segment erector, a configuration scheme of the hybrid configuration segmenterector whose coarse body and fine-tuning was proposed, and based on the principle of theselection of segment erector, the engineering requirements, functional demands andprinciples of the mechanism were taken into consideration.Took segment erector in Ф6.29mshield tunneling machine as an example, the systematic structure and function of themachine was briefly introduced.(2) The kinematics of coarse body and fine-tuning in segment erector was theoreticallycalculated by using D-H coordinate method and Jacobine matrix analysis method, and thenthe curves of position, velocity, and acceleration of the end of the grab mechanism wasobtained through programming in MATLAB. Based on the founding of the inversekinematics model and the velocity mapping model of fine-tuning mechanism, the elongationcurves of four driving cylinders, the mapping curves between the position and orientationangle of segment and the elongation of driving cylinder, and the effect curves betweenrotation angular velocity of segments and velocity of driving cylinder were obtainedthrough programming in MATLAB.(3) The kinematics simulation of coarse body and fine-tuning in segment erector was performed by using multibody dynamics software——ADAMS, and the curves of position,velocity, and acceleration of the end of the grab mechanism were got. The dynamics ofcoarse body and fine-tuning in segment erector was analyzed. Several particular conditions,such as lift arms outstretched when the segment erector rotated to90degrees, lift arms andtranslation beams outstretched when the machine rotated to180degrees, and installing thecap block, etc., were taken into account. The curves of each driving force, and force of liftarms and translation beams were achieved.(4) Combined with the finite element analysis software——ANSYS and multi-bodydynamics software——ADAMS, rigid-flexible coupling model of segment erector withthe lift arms and translation beams flexible is built. The curves of position, velocity, andacceleration of the end of the grab mechanism were obtained after simulation. The impact ofassemble precision after flexibility was discussed by comparing the results with the ones ofrigid body simulation. The real time stress curves of the lift arms and translation beamsduring the simulation process were extracted to verify the strength met the requirements.The results of the study showed that the curves of the end of the grab mechanism andreal time stress could be more accurately gained through rigid-flexible coupling simulation.The method could provide reference for improving the assembly precision and reliability.