为解决传统轨道交通六自由度管片拼装机因控制精度低、重载形变大而无法满足管片自动拼装技术要求的现实问题,文章首先在建立拼装机动作误差简易计算模型的基础上,明确了传统拼装机回转精度不足对末端位姿的突出影响,然后创新提出了一种基于拼装机抓手横移动作补偿回转角度执行不到位的方法,并给出针对性的特型管片拼装机结构优化设计和控制方案.通过进一步动作误差分析以及有限元结构受载计算得出:新型管片拼装机末端位置误差可控制在±0.5 mm范围内;重载工况下提升梁最大形变小于0.35 mm.
Design of a New Assembly Machine for Automatic Assembly of Shield Segments in Rail Transit
To solve the practical problem of traditional rail transit six degree of freedom pipe segment assembly machines being unable to meet the requirements of automatic pipe segment assembly technology due to low control accuracy and large deformation under heavy load,this article first establishes a simple calculation model for the action error of the assembly machine,clarifies the prominent impact of insufficient rotation accuracy of the traditional assembly machine on the end pose,and then innovatively proposes a method based on compensating for the insufficient execution of the rotation angle by the lateral movement action of the assembly machine gripper,and provides targeted structural optimization design and control scheme for the special type pipe segment assembly machine.Through further analysis of motion errors and finite element structural load calculations,it is concluded that the end position error of the new pipe segment assembly machine can be controlled within±0.5 mm;the maximum deformation of the lifting beam under heavy load conditions is less than 0.35 mm.
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