掘进装备推进机构载荷顺应性及其评价方法

Payload Compliance and Its Design Theory for Thruster Mechanisms of Shield Machines

掘进装备推进机构是掘进装备的重要子系统,需要承受来自作业环境的重载荷、大突变载荷,同时需要传递大推进力,并实现精准的运动和力传递功能。若其刚性不够将难以承受重载荷;若其柔性不足将难以顺应大突变载荷。为解决其在推进过程中刚柔冲突的一对矛盾,保证其快速、准确、可靠、安全掘进,定义掘进装备推进机构载荷顺应性,提出推进机构载荷顺应性设计问题。分别探讨推进机构载荷顺应中心的物理意义及其识别方法,运动耦合性、变形耦合性及弹性储能性的物理意义及其与机构位置精度、所受重载荷、大突变载荷之对应关系。提出涵盖以上三特性的推进机构载荷顺应性设计指标,为建立以顺应中心为设计约束,以载荷顺应最大为设计目标的推进机构载荷顺应性设计方法提供理论基础。通过推进机构载荷顺应性相关指标及其关节反力大小的相关性比较,验证载荷顺应性设计指标的科学性,表明以所提出的载荷顺应度为设计指标,可保证所设计出的推进机构既具备高刚性又具备大柔性,能化解掘进装备在推进过程中刚柔冲突的一对矛盾。

The propulsion system is one of the key subsystems of a shield machine （SM）. It is of great use for propulsion working, and bears heavy payload and interrupt dynamical payload which come from outside environment. At the same time, it transforms great propulsion forces, and can act high accuracy forces and motions transformation. On the one hand, if the thrust mechanism （TM） on a propulsion system is of lower rigidity, it will result in the lower capacity for bearing the heavy payload. On the other hand, if the TM is of lower flexibility, it will result in the lower capacity for accommodating the interrupt dynamical payload. To dissolve the rigidity-flexibility conflict and let it work under high efficiency, accuracy and safety conditions, a new approach of the payload compliance design （PCD） theory for the TM is introduced. To do this, several research works are investigated and are described as follow：The physical terms of movement coupling, deformation coupling and performance of energy stored for a shield machine are discussed, and their definitions are given, respectively. The inherent relationships between the performance of the remote compliance center （RCC） and the precision of position control, the performance of movement coupling and the heavy payload, the performance of deformation coupling and the interrupt dynamical payload, and the elastic energy and the intense impact come from the interrupt dynamical payload are also studied. Based on which an integration index, i.e. the payload compliance index （PCI）, for the PCD is defined either. The comparisons of PCIs and joint forces of typeΠmechanisms are done through different design parameters, and different products coming from different manufacturers. The results that payload compliances are inversely proportional to the joint forces would verify theoretically the rationality of the proposed PCI and the validity of the proposed PCD theory. Follow all the PCD criterions, a fine designed TM would ensure that it not only is of high rigidities to bear heavy payloads and reduce joint forces, but also is of high flexibilities to accommodate interrupt dynamical payloads, and reduce dynamic joint forces.