【作者】 罗克龙；

【导师】 管会生；

【作者基本信息】 西南交通大学 ， 机械设计及理论， 2013， 硕士

【摘要】 我国山岭隧道施工以钻爆法为主,当进行软弱围岩施工时,须采用钢拱架作为初期支护,以保证施工安全。而国内普遍采用的人工安装方式己难以适应隧道快速施工的要求,需要一种拱架安装专用设备。拱架安装机集钢拱架运输与安装等功能于一身,其核心工作装置是拱架安装机械手。拱架安装机械手的结构性能直接关系到整机的作业性能和制造、使用成本,对其进行深入研究具有重要意义。本文在分析我国隧道施工环境和钢拱架安装工艺的基础上,提出拱架安装机的设计方案,并对拱架安装机械手进行运动学和动力学进行研究。论文主要内容如下：首先对国内外现有的拱架安装设备性能和特点进行对比分析,结合我国隧道施工要求,提出拱架安装机的设计方案,介绍其主要结构和工作原理,并运用SolidWorks软件建立拱架安装机械手的三维模型,为后续的仿真分析作准备。其次结合拱架安装机械手的结构特点,运用D-H法建立拱架安装机械手的运动学方程,并验证运动学方程的正确性；采用蒙特卡洛法和Matlab软件求出拱架安装机械手的工作空间。采用牛顿-欧拉方程法对拱架安装机械手进行动力学分析,介绍其递推过程；运用ADAMS软件建立拱架安装机械手的虚拟样机模型,对其进行运动学和动力学仿真分析,得到小臂平衡机构的调平偏差以及各油缸和铰点的受力情况,为油缸的选型设计和有限元分析提供必要的参数。最后运用COSMOSWorks软件对拱架安装机械手的伸缩臂进行有限元静力分析。根据虚拟样机仿真结果提供的铰点力,校核伸缩臂在危险工况下的强度和刚度,为以后的结构优化、改进设计提供条件。更多还原

【Abstract】 The main methods for the construction of mountain tunnel is drilling and blasting method in China. In order to ensure construction safety, steel roof arches must be installed in the construction of weak surrounding rock tunnels. Installing steel arches by manpower is the most popular method at present in China. This method is difficult to satisfy the requirements of rapid construction of tunnels. It is necessary to design a special machine which is called the steel support machine used for conveying and installing steel arches in tunnels. The steel support manipulator is the key working device. Its structure has a great influence on the overall performance; the manufacture cost and use cost. So it is necessary to make a deep study on the steel support manipulator. Based on the analysis of the tunnel construction condition and the installation requirements, this paper proposes the design scheme of the steel support machine. The kinematics and dynamics of the steel support manipulator are investigated in this paper. The main work of this paper is as follows:Firstly the characteristics of the existing machines are compared and analyzed. According to the installation requirements of steel arches in our country, the design scheme of the steel support machine is proposed. Its structural composition and working principle are introduced. The model of the steel support manipulator is created in SolidWorks, which is the basis of further analysis.Secondly according to the structure features of the manipulator, its kinematics equation is built by D-H coordination system. Monte-Carlo method is applied to simulating the workspace of the manipulator with Matlab program language.Thirdly this paper analyzes the dynamics of the steel support manipulator by the iterative Newton-Euler scheme. The steel support manipulator’s virtual prototyping model is established with ADAMS software, and to carry on the kinematics and dynamics simulation analysis. The dynamically leveling angle curve of the leveling mechanism is obtained through the simulation analysis. Curves of cylinders’driving force and the joint force are also derived. The results of simulation analysis provide theoretical basis for the finite element analysis and the designs of cylinders of the steel support manipulator.Finally the finite element model of the manipulator’s telescopic boom is established with COSMOSWorks software, and to carry on the static analysis. The strength and stiffness of the telescopic boom in dangerous condition are checked according to the result of the static analysis. The result lay the foundation for follow-up study such as structural optimization and design improvement of the manipulator.更多还原