Analysis And Research Of The Pose Errors For The Thruster Mechanism Of A TBM

Full-face rock tunnel boring machines for rock stratigraphic excavation (Full Face Rock Tunnel Boring Machine, TBM) is a major technical equipment urgently needed by the national metro, highways and railway tunnel infrastructure construction, resource development and national defense construction projects, municipal facilities and a large number of countries used in sewer construction. Therefore, its study has important source of innovation in core technology, which fully reflects the strategic objectives of the development requirements of China’s equipment manufacturing industry and its national development.The thruster mechanism is a key part of the excavation equipment, need to withstand the excavation equipment working in the harsh environment of heavy loads, large mutation load and strong vibration loads. Institutions to deposit large flexible deformation, making the actual arrival pose with the theoretical position and orientation may pose errors, the errors will be TBM jobs precision caused adverse effects. Its error analysis and simulation purposes is through the analysis and research, to find out the composition, distribution feature and the main influencing factors of the error, its institutional design and lay a theoretical foundation, thus improving the accuracy of its actual construction job.This paper intends to study the TBM thruster mechanism errors distribution, reveals the impact of the law on its institutional structure parameters, manufacturing and motion errors of its position and orientation error. In this paper, the object to be studied is a redundant parallel mechanism, which has24hydraulic branches. These branches are divided into six groups, and are arranged in wedge-shaped. The thruster mechanism being studied here has advantages, such as great rigidity high control precision, and the capacity to adapt to the harsh environment.The paper uses robot institutional theory and kinematic differential relationship, establish a parameterized thruster mechanism as the basic institutional structure set to push the parameters, the motion parameters and its error variable pose errors analysis model. And the use of the parametric model derived relationship between thruster mechanism pose errors and the institutional structure of scale, the motion parameters, institutional structure parameter errors, and kinematic parameter errors, explore the various parameters and their errors pose error reveal the relationship between law, to identify the key influencing factor. Also, the use of finite element analysis software rigidity and deformation of the hydraulic cylinder, and compared with the export push the theoretical formula, verify the rationality and feasibility of the hydraulic spring instead of hydraulic oil, institutional analysis model the simplified bring convenient conditions.TBM thruster mechanism pose errors model established in this paper, to characterize its relationship with multifaceted scale parameter errors parameter of thruster mechanism errors instance analysis, the model is more objectively and comprehensively reflect the main factors affect errors. To improve the design of existing thruster mechanism, based on the analysis model, is expected to enhance the existing thruster mechanism to promote the ability to work.