用于轨道交通盾构管片自动拼装的新型拼装机设计  

Design of a New Assembly Machine for Automatic Assembly of Shield Segments in Rail Transit

作　　者：毕湘利[1] 吴文斐 朱叶艇 于宁[1] 吴迪 王秀志[1] 姜海波 朱雁飞 BI Xiang-li;WU Wen-fei;ZHU Ye-ting;YU Ning;WU Di;WANG Xiu-zhi;JIANG Hai-bo;ZHU Yan-fei(Shanghai Shentong Metro Group Co.,Ltd.,Shanghai 201102,China;Shanghai Tunnel Engineering Co.,Ltd.,Shanghai 200232,China;Shanghai Urban Construction Tunnel Equipment Co.,Ltd.,Shanghai 200137,China)

机构地区：[1]上海申通地铁集团有限公司,上海201102 [2]上海隧道工程有限公司,上海200232 [3]上海城建隧道装备有限公司,上海200137

出　　处：《中国市政工程》2024年第6期73-79,161,162,共9页China Municipal Engineering

基　　金：上海市国资委企业创新发展和能级提升项目(2022020);上海申通地铁集团公司科研项目(JS—KY23R009S)。

摘　　要：为解决传统轨道交通六自由度管片拼装机因控制精度低、重载形变大而无法满足管片自动拼装技术要求的现实问题,文章首先在建立拼装机动作误差简易计算模型的基础上,明确了传统拼装机回转精度不足对末端位姿的突出影响,然后创新提出了一种基于拼装机抓手横移动作补偿回转角度执行不到位的方法,并给出针对性的特型管片拼装机结构优化设计和控制方案。通过进一步动作误差分析以及有限元结构受载计算得出:新型管片拼装机末端位置误差可控制在±0.5 mm范围内;重载工况下提升梁最大形变小于0.35 mm。To solve the practical problem of traditional rail transit six degree of freedom pipe segment assembly machines being unable to meet the requirements of automatic pipe segment assembly technology due to low control accuracy and large deformation under heavy load,this article first establishes a simple calculation model for the action error of the assembly machine,clarifies the prominent impact of insufficient rotation accuracy of the traditional assembly machine on the end pose,and then innovatively proposes a method based on compensating for the insufficient execution of the rotation angle by the lateral movement action of the assembly machine gripper,and provides targeted structural optimization design and control scheme for the special type pipe segment assembly machine.Through further analysis of motion errors and finite element structural load calculations,it is concluded that the end position error of the new pipe segment assembly machine can be controlled within±0.5 mm;the maximum deformation of the lifting beam under heavy load conditions is less than 0.35 mm.

关 键 词：盾构机 管片 自动拼装 结构设计 机械误差 数值模拟 

分 类 号：U455.39[建筑科学—桥梁与隧道工程]