六自由度盾构管片拼装机机构设计  

Design and Analysis of 6—DOF Segment Erector Mechanism for Shield Machine

作　　者：钱晓刚[1] 高峰[1] 郭为忠[1] 

机构地区：[1]上海交通大学机械与动力工程学院,上海200240

出　　处：《机械设计与研究》2008年第1期17-20,共4页Machine Design And Research

基　　金：国家973项目全断面大型掘进装备设计制造中的基础科学问题(2007CB714005)

摘　　要：介绍了一种在盾构隧道施工中,用来给开挖好的隧道表面安装管片的管片拼装机,这是一种六自由度混联机构,整体机构串联中间包含一个二自由度五杆机构。分析了该拼装机的机构组成,工作原理及过程,进行了正运动学和逆运动学的分析,通过具体数值,验证运动学方程的准确性。最后,描述了拼装机对管片轨迹精确调整的过程。This paper presents a type of segment erector used in segment lining for the new surface after excavating during shield tunneling. This is a 6 - DOF hybrid mechanism which is in series as a whole with 2 - DOF five - bar mechanism. The composition of the erector, operational principle, working process, the analysis of direct and inverse kinematics are discussed. Also, the kinematic equations are verified. At last, the paper described the process of adjusting the locus of segment exactly using segment erector.

关 键 词：盾构 管片拼装机 混联机构 二自由度五杆机构 

分 类 号：TP112[自动化与计算机技术—控制理论与控制工程]