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针对TBM在施工作业过程中掘进轨迹经常偏离预设轨迹、严重影响掘进精度及效率的问题,研究其支撑-推进-换步机构刚度半解析建模方法。从分析机构的变形协调条件入手,构造出计及所有支链构件及末端自身弹性贡献的半解析静刚度模型,该模型综合考虑了复杂物理边条(围岩)、机械系统刚度及液压系统刚度。通过算例揭示整机静刚度在掘进全域随位姿的变化规律,并借助有限元分析软件验证了所建模型的正确性。
In the light of the TBM often deviates from the preset trajectory during the construction operation, the problem of TBM accuracy and efficiency is seriously affected, and the semi-analytical modeling of the stiffness of the TBM is studied. From the analysis of the deformation coordination conditions of the analytical mechanism, a semi-analytical static stiffness model considering the elastic contribution of all the branched members and ends is constructed. The model takes into account the complex physical boundary strip (surrounding rock), mechanical system stiffness and hydraulic system stiffness . Through the example, the law of static stiffness of the complete machine is revealed with the attitude change of the whole machine. The correctness of the model is validated by the finite element analysis software.