Please wait a minute...
JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE)
Mechanical and Energy Engineering     
Topological structure and kinematic characteristic analysis of TBM gripping-thrusting-regripping mechanism
WANG Kai, YANG Yu-hu, HUANG Tian, NIU Wen-wen, HE Fei
1. Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin 300350, China; 2. China Railway Tunnelling Equipment Co. Ltd, Zhengzhou 450016, China)
Download:   PDF(2568KB) HTML
Export: BibTeX | EndNote (RIS)      

Abstract  The topology configuration and working principle of the mechanism were briefly introduced. On this foundation, the influences of the mechanism topology configuration upon engine performance system were systematically analyzed under different conditions. The design criteria of the mechanism topology configuration were established. According to the structural characteristics of the mechanism, the motion equation of the mechanism was established in online steering. Finally, taking the gripping-thrusting-regripping mechanism of open TBM (cutterhead diameter of 8 m) as an example, the motion equations of mechanism between propel cylinders, steering cylinders and operating parameters were established by the motion simulation of TBM online steering. The research content provides an effective calculation method for the gripping-thrusting-regripping mechanism innovative design and precision online steering.

Published: 11 June 2017
CLC:  TH 11  
Cite this article:

WANG Kai, YANG Yu-hu, HUANG Tian, NIU Wen-wen, HE Fei. Topological structure and kinematic characteristic analysis of TBM gripping-thrusting-regripping mechanism. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 2017, 51(6): 1135-1142.


TBM支撑-推进-换步机构的拓扑结构及运动特性分析

简要介绍机构的拓扑结构与工作原理,分析机构的拓扑结构在不同工况下对整机性能的影响,建立机构拓扑结构设计应遵循的基本准则.针对机构的结构特征,建立机构在线调向工况下的运动方程.以某开敞式硬岩掘进装备(TBM)(刀盘直径为8 m)支撑-推进-换步机构样机为例,结合TBM在线调向作业的运动仿真,建立机构的推进油缸、调向油缸及作业参数间的运动方程,为深入开展支撑-推进-换步机构的创新设计以及精准在线调向提供有效的计算方法.

参考文献(References):
[1] 陆燕荪.中国制造任重道远装备中国责无旁贷中国装备制造业现状与发展战略[J].机械工程学报,2007,43(1): 2-6.
LU Yan-sun. Current situation and development strategy of Chinese equipment manufacturing industry [J]. Chinese Journal of Mechanical Engineering,2007,43(1): 2-6.
[2] 张镜剑.隧道掘进机在我国应用的进展[J].岩石力学与工程学报,2007,26(2):226-238.
ZHANG Jing-jian. Advances in tunnel boring machine application in China [J]. Chinese Journal of Rock Mechanics and Engineering,2007,26(2): 226-238.
[3] YANG H Y, SHI H, GONG G F. Electro-hydraulic proportional control of thrust system for shield tunneling machine [J]. Automation in Construction,2009,18(7): 950-956.
[4] YANG H Y, SHI H, GONG G F. Motion control of thrust system for shield tunneling machine [J]. Journal of Central South University of Technology,2010,17(3):537-543.
[5] SHI H, YANG H Y, GONG G F, et al. Determination of the cutterhead torque for EPB shield tunneling machine [J]. Automation in Construction,2011,20(8):1087-1095.
[6] ZHAO Y, WANG H, YU H D, et al. A stiffness matching based evaluation approach for compliance of mechanical systems in shield tunneling machines [J]. Science China Technological Sciences, 2012, 55(10):2926-2935.
[7] DAVID T C, SEATTLE, WASH. Earth boring machine and method: 3861748 [P]. 1975-01-21.
[8] 杜彦良,杜立杰著.全断面隧道掘进机系统原理与集成设计[M].武汉:华中科技大学出版社,2011.
[9] BERNHARD M,et al. Hard rock tunnel boring machines [M]. Beilin: Ernst and Sohn,2008.
[10] 王梦恕.开敞式TBM在铁路长隧道特硬岩、软岩地层的施工技术[J].土木工程学报,2005,38(5): 54-58.
WANG Meng-shu. Construction technique open TBM for long railway tunnels in very hard or soft rock strata [J]. China Civil Engineering Journal,2005,38(5):54-58.
[11] The Robbins Company. Service manual MB 332-335&336 preliminary issue [M]. Solon: the Robbins Company,2009.
[12] 周建军,杨振兴.深埋长隧道TBM施工关键问题探讨[J].岩土力学,2014,35(增2): 299-305.
ZHOU Jian-jun,YANG Zheng-xing. Discussion on key issues of TBM construction for long and deep tunnels [J]. Rock and Soil Mechanics,2014,35(Suppl.2):299-305.
[13] WANG K,YANG Y H,SHEN Z G,et al. Research on the experimental test system of TBM gripping-thrusting-regripping mechanism [C] ∥ 2016 MESA International Conference of IEEE. Auckland: IEEE,2016:1-5.
[14] GAO X X,YANG Y H. Finite element modeling of gripping-thrusting-regripping mechanism of TBM based on SAMCEF [C] ∥ 8th International Conference on Intelligent Robotics and Applications. Portsmouth: ICIRA,2015: 481-488.
[15] 牛文文.TBM支撑推进机构掘进性能分析[D].天津:天津大学,2014.
NIU Wen-wen. Analysis on excavating performance of gripper and thrust mechanism of TBM [D]. Tianjin: Tianjin University,2014.
[16] HUANG T,WANG X L,LIU H T,et al. Force analysis of a TBM gripping-thrusting-regripping mechanism[J]. Mechanism and Machine Theory,2016,98: 101-113.
[17] 余发国,高峰,史巧硕.基于GF集的锻造操作机构型方法[J].机械工程学报,2008,44(11): 152-159.
YU Fa-guo, GAO Feng, SHI Qiao-shuo. Type synthesis for forging manipulators based on GF set [J]. Chinese Journal of Mechanical Engineering,2008,44(11):152-159.
[18] GE H,GAO F. Type design for heavy-payload forging manipulators [J]. Chinese Journal of Mechanical Engineering,2012,25(2): 197-205.
[19] TASI L W,JOSHI S. Kinematic analysis of 3-DOF position mechanisms for use in hybrid kinematic machines [J]. Journal of Mechanical Design,2002,124(2):245-253.
[20] YAN C Y,GAO F,ZHANG Y. Kinematic modeling of a serial-parallel forging manipulator with application to heavy-duty manipulations [J]. Mechanics Based Design of Structures and Machines,2010,38(1): 105-129.
[21] HUANG T,LIU H T,CHETWYND D G. Generalized jacobian analysis of lower mobility manipulators [J]. Mechanism and Machine Theory,2011,46(6):831-844.
[22] 黄真,赵永生,赵铁石.高等空间机构学[M].北京:高等教育出版社,2006: 116-127.

[1] Wei-da LI,Zhu WANG,Hong-miao ZHANG,Juan LI,Hong GU. Mechanical design of bed-type gait rehabilitation training system[J]. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 2021, 55(5): 823-830.
[2] Ying-long CHEN,Fu-jun SONG,Jun-hao ZHANG,Wei SONG,Yong-jun GONG. Telerobotic shared control strategy based on telepresence: a review[J]. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 2021, 55(5): 831-842.
[3] Wei-da LI,Juan LI,Xiang LI,Hong-miao ZHANG,Hong GU,Yi-peng SHI,Hao-jie ZHANG,Li-ning SUN. Dynamic analysis and parameter optimization of under-actuated heterogeneous lower limb rehabilitation robot[J]. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 2021, 55(2): 222-228.
[4] Yan-biao LI,Tao-tao XU,Hang ZHENG,Ze-sheng WANG. Dynamic characteristics of spatial parallel mechanism with spherical joint clearance[J]. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 2020, 54(2): 348-356.
[5] Fang-fang TAN,Jun-jiang ZHU,Tian-hong YAN,Zhi-qiang GAO,Ling-song HE. Surface roughness prediction of 6061 aluminum alloy based on GA-WPT-ELM[J]. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 2020, 54(1): 40-47.
[6] Zhi HUANG,Zhen-jie JIA,Tao DENG,Yong-chao LIU,Li DU. Thermal error compensation of static pressure turntable based on support vector machine[J]. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 2019, 53(8): 1594-1601.
[7] Yang GAO,Cheng-gang FANG,Xian-hui JIANG. Analysis of slurry flow in cement 3D printing nozzle[J]. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 2019, 53(3): 420-426.
[8] Jin ZHOU,Tian-yu GAO,Yi CHEN,Hong-hao XI. Model updating of dual-rotor decanter centrifuge with dynamic test[J]. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 2019, 53(2): 241-249.
[9] ZHANG Ming-kui, CHENG Wen-ming, LIU Fang. Coupling effect between load characteristics and joint driving characteristics of powered exoskeleton[J]. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 2017, 51(4): 807-816.
[10] WANG Ming-dou, TAO Jian-feng, QIN Cheng-jin, LIU Cheng-liang. Trajectory planning for segment erector based on optimal space allowance[J]. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 2017, 51(3): 453-460.
[11] WANG Yang wei, YAN Yong cheng, LIU Kai, ZHAO Dong biao. Development and swimming experimental research on bionic stingray robot[J]. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 2017, 51(1): 106-112.
[12] TONG Shui guang, JIA Ya ping, YU Yue, TANG Ning, XIE Guo sheng. Calculation method for deformation of inconsecutive impacts on change-points[J]. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 2017, 51(1): 124-130.
[13] HUANG Wei di, GAN Chun biao, YANG Shi xi. Dynamic modeling and vibration response analysis of high speed motorized spindle[J]. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 2016, 50(11): 2195-2206.
[14] HUANG WEI,WANG Jia xu,XU Tao,XIAO Ke, LI Jun yang,WU Hui chao. Vibration characteristics analysis and experimental research on metal rubber composite gear pair[J]. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 2016, 50(11): 2231-2238.
[15] QI Yu xuan, QIU Qing ying, FENG Pei en, LI Li xin. Concept system and application of mechanical structure combination symmetry[J]. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 2016, 50(10): 1889-1901.