Design And Research Of Six Degree Of Freedom Segment Erector Test Platform

Segment erector is the key mechanical equipments of the tunnel lining.In the construction of municipal drainage,communications,power and oil and natural gas and other small diameter tunnel construction,due to the small cross-section of the tunnel,leading to the inconvenience of personnel entering the shield.it is an important task to develop intelligent and automatic segment erector due to the small size of pipeline and the inconvenience of personnel entering.In this paper,a six-degree-of-freedom segment erector test platform is designed on the basis of detailed analysis of erector process,erector precision and motion characteristics.According to the work flow and design requirements of the segment erector test platform,the mechanical structure is designed rationally.what's more,the important parts are selected and the life check is made.The reasonability of structural design is verified by 3D modeling.The hydraulic system is designed,calculated and selected.The characteristics of radial lift and gesture fine-tuning hydraulic circuit are analyzed in detail.And the synchronization of the lifting hydraulic system under the non-uniform load is simulated by using AMESim.The result shows that the lifting cylinder controlled by the shunt header has high synchronization,and meet the requirements of the test platform design.The D-H method and Jacobin matrix velocity method are used to analyze and calculate the kinematic theory of coarse adjustment mechanism.Through using the Adams software,obtained the position and velocity curve of the coarse adjustment mechanism,and the simulation curves and kinematics theory analysis results are basically consistent.It verifies that the kinematic characteristics of the test platform comply with the design requirements.The torque of the ring gear and the force of the two radial lifting cylinders are obtained by the dynamic simulation when the test platform work at the dangerous condition which coarse adjustment mechanism is rotated to 90? and the piston rod is fully extended.The stress curve provides the basis for verification basis of key components.The calculation model of the transmission error of the rotary test system and the radial lifting system and the angle of the roll angle error of the cylinder under the action of uneven load are established.The motion accuracy and the roll error of the test platform are analyzed.The results show that the movement precision of the segment erector meets the requirements of engineering use.can provide the theoretical basis for the precise control of the servo system.