敞口式矩形顶管机设计与研究

Design and Research of Open Type Rectangular Pipe Jacking Machine

为解决稳定地层中联络通道的机械化施工问题,研发敞口式矩形顶管机,并分别对敞口式顶管机在土体中的载荷分布特性、盾体静强度和挖掘臂的工作空间进行研究。1)基于普罗托基亚卡诺夫理论,研究敞口式矩形顶管机在土体中的载荷分布特性,构建盾体的受力模型。2)采用有限元法对盾体进行静强度分析,得到盾体的应力云图和变形量云图,验证盾体在强度和刚度方面符合设计要求。3)利用D-H方法对挖掘臂系统进行运动学建模,得到挖掘臂末端在基坐标系中的位置矢量;应用蒙特卡洛法对挖掘臂的工作空间进行分析,得到机械臂末端的工作空间点云图。研究结果可为敞口式顶管机的结构设计和设备控制系统的搭建提供依据。

In order to realize the mechanized construction of connection gallery in stable stratum,an open type rectangular pipe jacking machine is developed.The load distribution characteristics of the open type pipe jacking machine in soil,the static strength of the shield and the workspace of excavating arm are researched.The main studies and conclusions are drawn as follows:(1)The load distribution characteristics of the open rectangular pipe jacking machine in the soil are studied based on Protokiyakanov′s theory,and the force model of the shield is constructed.(2)The finite element analysis method is used to analyze the static strength of the shield,and the stress and deformation nephograms of the shield are obtained,which verifies that the shield meets the design requirements in terms of strength and stiffness.(3)The D-H method is used to model the kinematics of the excavating arm system,and the position vector of the excavating arm in the base coordinate system is obtained;the workspace of the excavating arm is analyzed by Monte Carlo method,and the point nephogram of the workspace is obtained.The research results can provide reference for the structure design and equipment control system construction of the open pipe jacking machine.