| Tunnel boring machine can be divided into hard rock boring machine for the rock geology and shield machine for the soft soil. In recent years, with the rapid development of China's economy and society, as well as urbanized advancement quickening, tunnel boring machine, in particular the shield machine is widely used in a variety of traffic and municipal engineering, and the demand is gradually increased. In this paper, combined with the current urgent requirements of the development of tunnel boring machine in China and under the support of National Basic Research Programme, comprehensive research on the two major components that one is hinge equipment for curve tunneling and direction correcting, the other is segment erector for segment lining on the new surface during tunneling is developed. The research content in this paper is listed as follows.1. Configuration design of the hinge equipment to meet the requirements of large curvature tunnelingStudy on the existing active and passive hinge equipment in tunnel boring machine and sum up their respective work characteristics, strengths and weaknesses. A model of task characteristics expressing and action decomposition is built through the analysis on the motion characteristics of cutting, pose alignment and large curvature tunneling in the process of tunnel construction. Then analyze on the impact of equipment configuration to institutional flexibility. According to the composite motion characteristics of over-constrained multi-DOF mechanism and large curvature tunneling, a new design of hinge equipment based on 6-(2-SPS)R parallel configuration is proposed.2. Motion analysis and load calculation for the new configuration of hinge equipment Kinematics and dynamics analysis methods of parallel manipulor are used to study the rule of motion transmission and force transmission of different parts under a large load, and to reveal the coupling relationship between driving force and external load. We can get a load distribution rule and calculation method of the branched-chain drive unit from such analysis, which provide a theoretical basis for the design of system stiffness, structural strength and reliability of tunneling machine.3. Configuration design of 6-DOF segment erectorStudy on the segment assembly process. Several mechanism topological structures are derived from its DOF requirement by using GF set and other mathematical tools. Then comprehensively consider about the composite motion characteristics and practicability of the mechanism so as to design a new kind of segment erector which includes a"1T2R"or"1T3R"parallel mechanism.4. Motion analysis and load calculation for the new configuration of segment erectorThis paper focuses on the analysis of kinematic and dynamic characteristics of two kinds of segment erector which are based on 3-RPS and 1-PS&3-SPS parallel configuration. The rules of motion transmission and force transmission of them are also studied. The new design will be compared with the original one by some performance indicators. Analyze their strengths and weaknesses to prepare for the mechanical optimal design.5. CAD modeling and numerical examplesThree-dimensional modeling software Pro/E is used to build the CAD models of hinge equipment and segment erector of tunnel boring machine. Import the files into Multi-body dynamics simulation software ADAMS and add kinematic pairs at every joint. Vitual working process of hinge equipment and segment erector can be achieved with the drivers on cylinders. According to the kinematic equations, force equations and the dimensions of the parts, numerical examples are given.
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