CN102393270B - Development machine compliance design experiment device - Google Patents
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- CN102393270B CN102393270B CN201110227629.6A CN201110227629A CN102393270B CN 102393270 B CN102393270 B CN 102393270B CN 201110227629 A CN201110227629 A CN 201110227629A CN 102393270 B CN102393270 B CN 102393270B
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Abstract
The invention provides a development machine compliance design experiment device in the technical field of tunneling works. The development machine compliance design experiment device comprises an experiment table supporting mechanism, a shield simulated propelling mechanism, a shield simulated supporting mechanism, a load simulation mechanism and a control system, wherein a simulation shield supporting mechanism is arranged on a bottom plate; two cross beams are respectively connected with the shield simulation mechanism and the load simulation mechanism; the control system is respectively connected with the shield simulation mechanism and the load simulation mechanism; various working conditions of a shield machine can be simulated in the developing process; the force transmission characteristic of the shield machine propelling mechanism is qualitatively analyzed in the developing process; and the compliance design solution of the development machine under a variable load condition is verified.
Description
Technical field
The present invention relates to the device of Tunnel Engineering technical field, specifically a kind of development machine compliance contrived experiment device towards complicated variable load.
Background technology
In actual condition, shield excavation machine geological stratification in tunneling process can be undergone mutation.The geology of burst changes, easily cause the phenomenon such as development machine stall, servomotor axle fracture, for avoiding shield excavation machine, in the tunneling process changing in the face of burst geologic condition, as above operating mode occurs, just must study its force transfering characteristic, carry out the design of shield driving compliance, formulate compliance scheme.
To carry out compliance design to shield excavation machine, first will simulate reduction to its tunneling process.As studied the force transfering characteristic of shield excavation machine in tunneling process, carry out compliance design, just must monitor it under different geological conditions, and in the time that geology is undergone mutation, the pressure curve of each propulsion cylinder, the rotating speed of cutterhead servomotor etc.
Therefore, those skilled in the art is devoted to develop a kind of development machine compliance contrived experiment device, and to relevant computer simulation technique combination, shield excavation machine driving compliance is studied.
Summary of the invention
Pass through under different geological conditions for realizing, the operating mode of large-scale digging device is simulated, force transfering characteristic in tunneling process is done qualitatively and analyzed, the compliance design proposal rationality of checking development machine, the invention provides a kind of development machine compliance contrived experiment device towards complicated variable load, comprising: experiment table supporting mechanism, shield simulation propulsive mechanism, shield simulation supporting mechanism, load simulated mechanism and control system, wherein, described experiment table supporting mechanism is hinged with described shield simulation propulsive mechanism and described load simulated mechanism respectively, and described shield simulation propulsive mechanism is connected with described control system, and described shield simulation propulsive mechanism is flexibly connected with described shield simulation supporting mechanism, described shield simulation propulsive mechanism comprises: multiple orthoscopic electric cylinder assemblies, multiple the first servomotor, simulation cutter head assembly, thrust bearing and polylith simulation friction disc, wherein, described simulation cutter head assembly is flexibly connected with described multiple orthoscopic electric cylinder assemblies and described shield simulation supporting mechanism respectively, described multiple orthoscopic electric cylinder assembly and described experiment table supporting mechanism are hinged, described multiple orthoscopic electric cylinder assembly is all connected with described control system with described multiple the first servomotors, described multiple the first servomotor is connected with described simulation cutter head assembly and is arranged at the same side of described simulation cutter head assembly with described multiple orthoscopic electric cylinder assemblies, described thrust bearing is connected with described simulation cutter head assembly and described polylith simulation friction disc respectively, described load simulated mechanism adopts six degree of freedom 6-6SPS type Stewart platform mechanism, comprises broken-line type electric cylinder assembly, moving platform and load friction disc, wherein, described broken-line type electric cylinder assembly is hinged with the first side plate of described moving platform and described experiment table supporting mechanism respectively, and described load friction disc is connected in the surface of described moving platform by fixing dormant bolt.
Preferably, in development machine compliance contrived experiment device of the present invention, described orthoscopic electric cylinder assembly comprises: the first power sensor and the electronic propulsion cylinder of orthoscopic, wherein, described the first power sensor is connected with the electronic propulsion cylinder of described orthoscopic, described the first power sensor is flexibly connected with the spherical support seat corresponding to described simulation cutter head assembly, described second side plate of the electronic propulsion cylinder of described orthoscopic and described experiment table supporting mechanism is hinged, adopts 16 axis controllers to be connected with described control system; Described the first power covers disposed on sensor has spherical support part, and this spherical support part is arranged in the described spherical support seat of described simulation cutter head assembly.
Preferably, in development machine compliance contrived experiment device of the present invention, described simulation cutter head assembly comprises: disk body, multiple described spherical support seat and removable pin, wherein: multiple described spherical support seats are flexibly connected with a side of described disk body, in multiple described spherical support seats, connect respectively with the described power sensor of corresponding described orthoscopic electric cylinder assembly, described removable pin is connected with two described pallets of described experiment table supporting mechanism by bolt; Wherein, described disk body is made up of double-deck cutterhead, single described thrust bearing, friction disc backboard and multiple described simulation friction disc; Cutterhead right-hand member card is in order to install described shield simulation propulsive mechanism, left end card is installed single thrust bearing and rotary system, upper end is connected with the described connecting trays of described experiment table supporting mechanism, and lower end is positioned over described shield and simulates on the described disk body base for supporting of supporting mechanism and be bolted; Described single thrust bearing one end is fixed on cutterhead left end card, the other end connects described friction disc backboard, multiple described simulation friction discs are bolted on described friction disc backboard, and the described disk body base for supporting that described disk body is attached thereto by lower end realizes that it swings, moves forward and backward, the pitching of above-below direction and the motion such as tumble.Further, described rotary system comprises 4 motors and 4 reductors, non-homogeneous being arranged on described disk body in installation site of described motor and described reductor, also comprise that two motors drive reductor, engage the single thrust bearing on driving disk by gear, motor position can change, or expands to four motors and synchronously drive.
The layout of described load friction disc is identical with the layout of described simulation friction disc, is divided into 4 and is circular distribution on described moving platform surface, and the arc angle of every friction disc is 90 degree, and differentiated friction sheet friction factor difference, with analog composite geologic condition.
Preferably, in development machine compliance contrived experiment device of the present invention, described broken-line type electric cylinder assembly comprises: the electronic propulsion cylinder of broken-line type and the second power sensor, wherein: the electronic propulsion cylinder of broken-line type is connected with the second sensor, the electronic propulsion cylinder of broken-line type and power sensor are hinged with the first side plate and the moving platform of experiment table supporting mechanism respectively.
Preferably, in development machine compliance contrived experiment device of the present invention, described experiment table supporting mechanism comprises base plate, described the first side plate, the second side plate, two pallets and two crossbeams, wherein: described the first side plate and described the second side plate are bolted respectively and are arranged on described base plate, described the first side plate is also connected with described load simulated mechanism and described shield simulation propulsive mechanism respectively with described the second side plate, two described crossbeams are connected with described the first side plate and described the second side plate by bolt respectively, two described pallets are arranged on respectively on two described crossbeams by linear slide bearing, can be along described crossbeam linear slide.Further, described the first side plate and described the second side plate are located at respectively the two ends of described base plate, and described base plate, described crossbeam, described the first side plate and described the second side plate have formed the fixed support of a closed loop.
The effect of described experiment table supporting mechanism is: in installation process, for lifting shield simulation propulsive mechanism, be convenient to coordinate installed load simulation mechanism with the first side plate; In experimentation, form the constraint to simulation cutter head assembly axial rotation degree of freedom with shield simulation supporting mechanism; After experiment finishes, shield analog position is locked, prevent from, under Action of Gravity Field, Singularity occurs; This experiment table support machine forms the supporting mechanism of a closed loop, avoids in experimentation load excessive, supporting construction unstability.
Preferably, in development machine compliance contrived experiment device of the present invention, described shield simulation supporting mechanism comprises: chassis, thrust bearing, support tray, guide rail, slide block, bearing seat and disk body base for supporting; Wherein, described support tray, described thrust bearing and described chassis are from top to bottom connected successively, and described chassis is connected with the described base plate of described experiment table supporting mechanism, and described thrust bearing is arranged on described chassis, upper end connects described support tray, realizes swinging of described simulation cutterhead; Described guide rail is arranged on described support tray, described slide block is flexibly connected with described guide rail and is fixedly connected with described bearing seat, bearing in described bearing seat is flexibly connected with described disk body base for supporting, and described disk body base for supporting is realized the rotation of both direction and the translation along described guide rail direction by the described bearing in described thrust bearing and described bearing seat.
Preferably, in development machine compliance contrived experiment device of the present invention, described control system comprises: the tunnels analogy input terminal, multi-axis controller, the host computer that are connected in series successively; Wherein: described tunnels analogy input terminal is connected with the described broken-line type electric cylinder assembly of described load simulated mechanism and described multiple orthoscopic electric cylinder assemblies of described shield simulation propulsive mechanism respectively, described multiple orthoscopic electric cylinder assemblies of the described broken-line type electric cylinder assembly of described load simulated mechanism, described shield simulation propulsive mechanism have respectively power sensor, and are connected with described host computer by described power sensor.
The effect of described control system is: the state of control and monitoring experiment process Zhong Ge topworks, guarantee normally carrying out of experiment.The data of test mainly comprise each propulsion cylinder actual thrust, fltting speed in shield simulation propulsive mechanism, the output of the each side chain force and moment of load simulated device, the load of the each servomotor of shield analog-driven rotary system and rotating speed output pulsation.
Preferably, in development machine compliance contrived experiment device of the present invention, the friction factor of described simulation friction disc is 0.1-0.6; The friction factor of described load friction disc is 0.1-0.6.
The course of work of the present invention is: before testing, guarantee that the plane of base plate is horizontal, operation multi-axis controller program; Make load simulated mechanism in initial position and mechanism's self gravitation balance from display terminal input load simulation mechanism servomotor kinematic parameter, input again servomotor kinematic parameter in shield simulation propulsive mechanism, make to simulate cutterhead and proceed to soon the place apart from load friction disc 10mm; Servomotor kinematic parameter is set, simulation cutterhead is driven, make to simulate friction disc and evenly rotate also slowly near load friction disc; Wait simulating friction disc and load friction disc while steadily rubbing, can regulate the electronic propulsion cylinder of orthoscopic, the rotating speed of servomotor, the electronic propulsion cylinder of broken-line type, carry out the experiment under different parameters; After having tested, the electronic propulsion cylinder of rewind down orthoscopic and the electronic propulsion cylinder of broken-line type are to initial position respectively, and powered-down, arranges equipment.
The present invention can the various operating modes in tunneling process simulate shield machine, the force transfering characteristic of qualitatively analyze shield machine propulsion plant in tunneling process, the compliance design proposal rationality of development machine under checking variable load.
Below with reference to accompanying drawing, the technique effect of design of the present invention, concrete structure and generation is described further, to understand fully object of the present invention, feature and effect.
Accompanying drawing explanation
Fig. 1 is the structural representation of a preferred embodiment of the present invention;
Fig. 2 is the exploded view of the assembly relation of simulation shield body;
Fig. 3 is the electrical schematic diagram of testing table;
Fig. 4 is the control system schematic diagram of a preferred embodiment of the present invention;
Fig. 5 is the schematic diagram of simulation shield electric cylinder 1-1-1-1 grouping;
Fig. 6 is the schematic diagram of simulation shield electric cylinder 2-1-2-3 grouping.
Embodiment
Embodiment 1:
As shown in Figure 1, the present embodiment comprises: experiment table supporting mechanism 1, shield simulation propulsive mechanism 2, shield simulation supporting mechanism 3, load simulated mechanism 4 and control system, wherein: experiment table supporting mechanism 1 is hinged with shield simulation propulsive mechanism 2 and load simulated mechanism 4 respectively, shield simulation propulsive mechanism 2 is connected with control system respectively with load simulated mechanism 4, and shield simulation propulsive mechanism 2 is flexibly connected with shield simulation supporting mechanism 3.
Described experiment table supporting mechanism 1 comprises: base plate 5, the first side plate 6, the second side plate 7, two connecting trays 8 and two crossbeams 9, wherein: two side plates 6,7 are arranged at respectively on base plate 5, the first side plate 6 is connected with load simulated mechanism 4 and shield simulation propulsive mechanism 2 respectively with the second side plate 7, two crossbeams 9 are connected with two connecting trays 8 respectively, and two connecting trays 8 are arranged on crossbeam 9 by linear bearing 10.
Described shield simulation propulsive mechanism 2 comprises: several orthoscopic electric cylinder assemblies 11, simulation cutter head assembly 12, thrust bearing 13 and some simulation friction discs 14, wherein: simulation cutter head assembly 12 is flexibly connected with several orthoscopic electric cylinder assemblies 11 and shield simulation supporting mechanism 3 respectively, several orthoscopic electric cylinder assembly 11 two ends are hinged with experiment table supporting mechanism 1 and simulation cutter head assembly 12 respectively, several orthoscopic electric cylinder assemblies 11 are connected with control system, thrust bearing 13 is connected with simulation cutter head assembly 12 and some simulation friction discs 14 respectively.
Described orthoscopic electric cylinder assembly 11 comprises: power sensor 15, the electronic propulsion cylinder 16 of orthoscopic and servomotor 17, wherein: power sensor 15 is connected with the electronic propulsion cylinder 16 of orthoscopic, power sensor 15 is flexibly connected with the spherical support seat 20 of corresponding simulation cutter head assembly 12, the electronic propulsion cylinder 16 of orthoscopic is hinged with the second side plate 7 of experiment table supporting mechanism 1, and servomotor 17 is connected with control system with power sensor 15.
Described power sensor 15 is provided with spherical support part 18, and this spherical support part 18 is arranged in the spherical support seat 20 of simulation cutter head assembly 12.
Described simulation cutter head assembly 12 comprises: disk body 19, several spherical support seats 20 and removable pin 21, wherein: several spherical support seats 20 are flexibly connected with disk body 19, disk body 19 is connected with thrust bearing 13, several spherical support seats 20 are interior to be connected with the power sensor 15 of corresponding orthoscopic electric cylinder assembly 11 respectively, and removable pin 21 is for connecting trays 8 and disk body 19.
Described disk body 19 is by double-deck cutterhead, and single thrust bearing 13 and some friction discs 14 form.Right-hand member card is in order to propulsion system to be installed, and left end card is installed single thrust bearing 13 and turning motor 37, and upper end is connected with pallet 8 by removable pin 21, and lower end connects supporting mechanism 3.Single thrust bearing 13 right-hand members are fixed on cutterhead left end card, and left end connects friction disc 14.By four fan-shaped friction discs, the rubbing surface of looping, is connected in the right side of single thrust bearing.
Described rotary system comprises several turning motors 37, non-homogeneous being arranged on disk body 19.
Described shield simulation supporting mechanism 3 comprises: chassis 22, thrust bearing 23, support tray 24, guide rail 25, slide block 26, bearing seat 27, wherein: support tray 24, thrust bearing 23 and chassis 22 are from top to bottom connected successively, chassis 22 is connected with the base plate 6 of experiment table supporting mechanism 1, guide rail 25 is arranged on support tray 24, slide block 26 is flexibly connected with guide rail 25 and is fixedly connected with bearing seat 27, and bearing seat 27 is connected with the simulation cutter head assembly 12 of shield simulation propulsive mechanism 2.
Described load simulated mechanism 4 comprises: several broken-line type electric cylinder assemblies 28, moving platform 29 and load friction disc 30, wherein: broken-line type electric cylinder assembly 28 is hinged with the first side plate 6 of moving platform 29 and experiment table supporting mechanism 1 respectively, and load friction disc 30 is arranged at moving platform 29 surfaces.
The layout of described load friction disc 30 is identical with the layout of simulation friction disc 14, and by four fan-shaped friction discs, the rubbing surface of looping, is connected in moving platform surface.
Described broken-line type electric cylinder assembly 28 comprises: the electronic propulsion cylinder 31 of broken-line type, power sensor 32 and servomotor 33, wherein: the electronic propulsion cylinder 31 of broken-line type is connected with power sensor 32, the electronic propulsion cylinder 31 of broken-line type and power sensor 32 are hinged with the first side plate 6 and the moving platform 29 of experiment table supporting mechanism 1 respectively.
As shown in Figure 4, described control system comprises: tunnels analogy input terminal 34, multi-axis controller 35 and host computer 36, wherein: tunnels analogy input terminal 34, multi-axis controller 35 and host computer 36 are connected in series successively, tunnels analogy input terminal 34 is connected with several broken-line type electric cylinder assemblies 28 of load simulated mechanism 4 and several orthoscopic electric cylinder assemblies 11 of shield simulation propulsive mechanism 2 respectively, several broken-line type electric cylinder assemblies 28 of load simulated mechanism 4, several orthoscopic electric cylinder assemblies 11 of shield simulation propulsive mechanism 2 are connected with host computer 36 by corresponding power sensor respectively.
Described control system effect is the state of control and monitoring experiment process Zhong Ge topworks, guarantees normally carrying out of experiment.In the present embodiment, what need to control is 16 servomotors, six degree of freedom platform load simulation mechanism 4 comprises 6 electronic propulsion cylinders 31 of broken-line type, and shield simulation propulsive mechanism 2 comprises 8 electronic propulsion cylinders 16 of orthoscopic, and shield analog-driven rotary system comprises 2 servomotors.The data of test mainly comprise each propulsion cylinder actual thrust, fltting speed in shield simulation propulsive mechanism 2, the output of each side chain force and moment in load simulated mechanism 4, the load output pulsation of shield analog-driven turning motor 37.
Take weak soil in typical compound geologic condition and hard rock ratio as 6: 4, be that geologic condition weak soil content in tunneling process is 60%, in the tunneling process that the electronic propulsion cylinder of orthoscopic is 16 points four groups, calculate the moment of flexure and the load angle that need loading, utilize load simulated mechanism 4 to load simulation friction disc 14.Set the pressure of four groups of electronic propulsion cylinders 16 of orthoscopic; Simulate driving cutting force by calculating, determine the torque of servomotor, adjust its rotating speed.In experimentation, control the propelling pressure variation of the electronic propulsion cylinder 16 of orthoscopic and the pressure variation of the electronic propulsion cylinder 31 of broken-line type by control system; In progradation, can monitor by control system the pressure variation of the electronic propulsion cylinder 16 of torque, rotating speed and orthoscopic of servomotor.Obtain parameter and the simulation experiment result contrasts, the compliance design of research shield excavation machine in different tunneling processes.
Embodiment 2:
In the tunneling process that the electronic propulsion cylinder of orthoscopic described in the present embodiment is 16 points four groups, change the kinematic parameter of propulsion cylinder in control program, change its grouping into two kinds multi-form four groups.With Fig. 5, Fig. 6, concrete group mode (in figure, black color dots or hollow ringlet represent the point of application position of orthoscopic electric cylinder assembly 11 on simulation cutter head assembly 12 surfaces) is described below:
1-1-1-1 group mode: simulation shield adopts Pose Control, gets 4 groups of cylinders and loads, and as black color dots position in accompanying drawing 5 loads, keeps the pose parallel of cutterhead.Load simulated device moving platform vertically moves (Pose Control) and contacts with the cutterhead friction disc of simulation shield, and produce certain contact prefabricating load 200N, then change the position control of load simulated device the control of into power appearance, apply variable load, be output as the counter-force of 4 groups of automatically controlled cylinders of simulation shield, the counter-force on 6 cylinders of load simulated device.Increase on this basis turning motor and rotate, consider the test that shield load is simulated in the contact friction between simulation shield and load simulated device.
2-1-2-3 group mode: simulation shield adopts Pose Control, gets 8 groups of cylinders and loads, and divides into groups shown in accompanying drawing 6, keeps the pose parallel of cutterhead.The Pose Control of taking load simulated device moving platform vertically moves with the cutterhead friction disc of simulation shield and contacts, and produce certain contact prefabricating load 200N, then change the position control of load simulated device the control of into power appearance, apply variable load, be output as the counter-force of 8 automatically controlled cylinders of simulation shield, the counter-force on 6 cylinders of load simulated device.Increase on this basis turning motor and rotate, consider the test that shield load is simulated in the contact friction between simulation shield and load simulated device.
Embodiment 3:
In the present embodiment, geologic condition weak soil content in tunneling process sports 40% by 60%, take 16 points four groups of electronic propulsion cylinders of orthoscopic as example, in steady progradation, change the pressure of the electronic propulsion cylinder 31 of broken-line type by kinematic parameter in change control program, thereby increase moment of flexure, realizes the sudden change of geologic condition in simulation tunneling process.
This experimental provision can be simulated tunneling process, the tunneling process of different geological conditions sudden change same packets etc. of the tunneling process of the constant propulsion cylinder same packets of tunneling process, geologic condition of electronic propulsion cylinder 16 different grouping of geologic condition Invariant line formula in shield tunneling process, identical geology conditional mutation different grouping; In simulation process, can automatically record Various types of data the real-time correlation curve that shows in experimentation by monitoring system.
More than describe preferred embodiment of the present invention in detail.The ordinary skill that should be appreciated that this area just can design according to the present invention be made many modifications and variations without creative work.Therefore, all technician in the art, all should be in by the determined protection domain of claims under this invention's idea on the basis of existing technology by the available technical scheme of logical analysis, reasoning, or a limited experiment.
Claims (9)
1. towards a development machine compliance contrived experiment device for complicated variable load, it is characterized in that, comprising: experiment table supporting mechanism, shield simulation propulsive mechanism, shield simulation supporting mechanism, load simulated mechanism and control system; Wherein,
Described experiment table supporting mechanism is made up of the first side plate, the second side plate, two connecting trays and two crossbeams, described the second side plate and the first side plate are hinged with described shield simulation propulsive mechanism and described load simulated mechanism respectively, described shield simulation propulsive mechanism is connected with described control system, and described shield simulation propulsive mechanism is flexibly connected with described shield simulation supporting mechanism;
Described shield simulation propulsive mechanism comprises: multiple orthoscopic electric cylinder assemblies and simulation cutter head assembly, described orthoscopic electric cylinder assembly comprises multiple the first servomotors, the first power sensor and the electronic propulsion cylinder of orthoscopic, described simulation cutter head assembly comprises disk body, and described disk body comprises cutterhead, thrust bearing and polylith simulation friction disc, wherein, described simulation cutter head assembly is flexibly connected with described multiple orthoscopic electric cylinder assemblies and described shield simulation supporting mechanism respectively, described multiple orthoscopic electric cylinder assembly and described experiment table supporting mechanism are hinged, described multiple the first servomotors in described multiple orthoscopic electric cylinder assembly are all connected with described control system with described the first power sensor, described the first power sensor is connected with described simulation cutter head assembly, the two ends of described multiple the first servomotors are connected with described the second side plate and the electronic propulsion cylinder of orthoscopic respectively, described thrust bearing is connected with described cutterhead and described polylith simulation friction disc respectively,
Described load simulated mechanism adopts six degree of freedom 6-6SPS type Stewart platform mechanism, comprises broken-line type electric cylinder assembly, moving platform and load friction disc; Wherein, described broken-line type electric cylinder assembly is hinged with the first side plate of described moving platform and described experiment table supporting mechanism respectively, and described load friction disc is connected in the surface of described moving platform by fixing dormant bolt;
The layout of described load friction disc is identical with the layout of described simulation friction disc, is divided into 4 and is circular distribution on described moving platform surface, and the arc angle of every friction disc is 90 degree, and differentiated friction sheet friction factor difference, with analog composite geologic condition.
2. development machine compliance contrived experiment device according to claim 1, it is characterized in that, wherein, described the first power sensor is connected with the electronic propulsion cylinder of described orthoscopic, described the first power sensor is flexibly connected with the spherical support seat corresponding to described simulation cutter head assembly, described second side plate of described first servomotor one end and described experiment table supporting mechanism is hinged, is connected with described the first power sensor by described the first servomotor with described control system; Described the first power covers disposed on sensor has spherical support part, and this spherical support part is arranged in the described spherical support seat of described simulation cutter head assembly.
3. development machine compliance contrived experiment device according to claim 1, it is characterized in that, described simulation cutter head assembly comprises: multiple spherical support seats and removable pin, wherein: multiple described spherical support seats are flexibly connected with a side of described disk body, multiple described spherical support seats connect with the described first power sensor of corresponding described orthoscopic electric cylinder assembly respectively, and described removable pin is connected with described two connecting trays of described experiment table supporting mechanism by bolt; Wherein, described disk body is made up of double-deck cutterhead, single described thrust bearing, friction disc backboard and multiple described simulation friction disc; Cutterhead right-hand member card is in order to install described shield simulation propulsive mechanism and rotary system, left end card is installed single thrust bearing, upper end is connected with described two connecting trays of described experiment table supporting mechanism, and lower end is positioned over described shield and simulates on the disk body base for supporting of supporting mechanism and be bolted; Described single thrust bearing one end is fixed on cutterhead left end card, the other end connects described friction disc backboard, multiple described simulation friction discs are bolted on described friction disc backboard, and the described disk body base for supporting that described disk body is attached thereto by lower end realizes that it swings, moves forward and backward, the pitching of above-below direction and the motion of tumbling.
4. development machine compliance contrived experiment device according to claim 1, it is characterized in that, described broken-line type electric cylinder assembly comprises: the electronic propulsion cylinder of broken-line type and the second power sensor, wherein: the electronic propulsion cylinder of broken-line type is connected with the second sensor, the electronic propulsion cylinder of broken-line type and power sensor are hinged with the first side plate and the moving platform of experiment table supporting mechanism respectively.
5. development machine compliance contrived experiment device according to claim 1, it is characterized in that, described experiment table supporting mechanism also comprises base plate, wherein: described the first side plate and described the second side plate are bolted respectively and are arranged on described base plate, described the first side plate is also connected with described load simulated mechanism and described shield simulation propulsive mechanism respectively with described the second side plate, two described crossbeams are connected with described the first side plate and described the second side plate by bolt respectively, two described pallets are arranged on respectively on two described crossbeams by linear slide bearing, can be along described crossbeam linear slide.
6. development machine compliance contrived experiment device according to claim 5, it is characterized in that, described the first side plate and described the second side plate are located at respectively the two ends of described base plate, and described base plate, described crossbeam, described the first side plate and described the second side plate have formed the fixed support of a closed loop.
7. development machine compliance contrived experiment device according to claim 1, is characterized in that, described shield simulation supporting mechanism comprises: chassis, thrust bearing, support tray, guide rail, slide block, bearing seat and disk body base for supporting; Wherein, described support tray, described thrust bearing and described chassis are from top to bottom connected successively, and described chassis is connected with the described base plate of described experiment table supporting mechanism, and described thrust bearing is arranged on described chassis, upper end connects described support tray, realizes swinging of described simulation cutterhead; Described guide rail is arranged on described support tray, described slide block is flexibly connected with described guide rail and is fixedly connected with described bearing seat, bearing in described bearing seat is flexibly connected with described disk body base for supporting, and described disk body base for supporting is realized the rotation of both direction and the translation along described guide rail direction by the described bearing in described thrust bearing and described bearing seat.
8. development machine compliance contrived experiment device according to claim 1, is characterized in that, described control system comprises: the tunnels analogy input terminal, multi-axis controller, the host computer that are connected in series successively; Wherein: described tunnels analogy input terminal is connected with the described broken-line type electric cylinder assembly of described load simulated mechanism and described multiple orthoscopic electric cylinder assemblies of described shield simulation propulsive mechanism respectively, described multiple orthoscopic electric cylinder assemblies of the described broken-line type electric cylinder assembly of described load simulated mechanism, described shield simulation propulsive mechanism have respectively power sensor, and are connected with described host computer by described power sensor.
9. development machine compliance contrived experiment device according to claim 1, is characterized in that, the friction factor of described load friction disc is 0.1-0.6; The friction factor of described simulation friction disc is 0.1-0.6.
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| CN102777176B (en) * | 2012-08-15 | 2014-09-17 | 徐工集团工程机械股份有限公司 | Propelling device of heading machine and full-section heading machine |
| CN107269290B (en) * | 2017-07-14 | 2023-06-30 | 华东交通大学 | Reconfigurable variable-rigidity TBM tunneling device with 1-6 degrees of freedom |
| CN108343443B (en) * | 2018-01-18 | 2019-07-26 | 浙江大学 | Slurry balance shield comprehensive simulation test platform driving and attitude-simulating pilot system |
| CN108318267B (en) * | 2018-01-18 | 2019-07-26 | 浙江大学 | Slurry balance shield comprehensive simulation test platform five degree of freedom follow-up support system |
| CN108593321B (en) * | 2018-04-03 | 2020-05-05 | 上海隧道工程有限公司 | Water jet shield constructs quick-witted performance test equipment |
| CN115493867B (en) * | 2022-11-17 | 2023-01-31 | 沈阳建筑大学 | Simulation experiment equipment for double-shield TBM hydraulic propulsion system |
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| CN101285386A (en) * | 2008-05-09 | 2008-10-15 | 清华大学 | Torsional moment and force loading unit for shield excavation simulation |
| CN101446537A (en) * | 2008-11-10 | 2009-06-03 | 中南大学 | Adjustable multi-hob rock cutting fragmentation test means |
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