Study On Segment Erector Of Special-shaped Tunnel Boring Machine

As an important part of shield machine,segment erector is directly related to the efficiency and quality of tunnel construction.Along with the continuous development of urban traffic,the demands of underground space development grow continuously.The section shapes of traditional tunnels are mostly circular,while the tunneling engineering technology by irregular sections such as rectangular and quasi-rectangular have good promotion prospect,but traditional segment erector of circle shield hardly adapt to irregular section segment assembling.This research took the Ningbo Metro Line 3 construction project undertaken by Shanghai Tunnel Engineering Co.,Ltd.(STEC)as background,and mainly proposed the 6-DOF segment erector with hydraulically actuated robotic manipulators in reference to the concept of industrial robot,which solved the problem of small space to assemble segments of quasi-rectangular shape and difficult to assemble the mid-column.This paper introduced the mechanism of segment erector with manipulator,and calculated and checked the motion and structural strength by motion simulation and finite element analysis;then introduced the design of hydralulic system,selected and checked its main parts;subsequently,through effective control strategy,the erector moving accord to prearrange track can be realized by trajectory tracking control,which devoted to motion accuracy as well as efficiency of assembly;in the end,tested the segment assembling accuracy and efficiency by assembling test.The erector with manipulator arm has an extended application in other similar tunnel construction of irregular sections.Further more,by multiple control methods,segments can be assembled automatically,which promptes intelligent development of tunnelling engineering construction.