关键词: 等效机构建模, 盾构, 分区, 推进系统

Abstract: The thrust system is a key part of the shield machine and the grouping-oriented control of thrust system is the core method to advance the shield machine. An equivalent redundant parallel mechanism-based modeling method is presented to describe the thrust system where the direct contact between the shoe of the hydraulic cylinder of the thrust system and the tunnel segment is regarded as a spherical joint and therefore each cylinder with its two ends are regarded as one spherical-prismatic-spherical (SPS) chain. Hence, an equivalent parallel mechanism is built to substitute the original thrust system with SPS chains equal to the number of the original hydraulic cylinders. Based on that, one group with connected hydraulic cylinders is regarded as one equivalent cylinder whose joint parameters are calculated according to theoretic mechanics. Then an equivalent mechanism is constructed to model the grouped thrust system. The kinematic performance model is derived for the equivalent mechanism of the grouped thrust system based on the parallel mechanism method. An example is given to demonstrate the effectiveness of the presented modeling method, which provides a useful tool for the design, evaluation and control of the grouped thrust system of the shield machines.

Key words: Equivalent mechanism-based modeling, Grouping, Shield machine, Thrust system