掘进机器人的仿形记忆截割建模与虚拟仿真

Building Model and Virtual Simulation of Profiling Memory Cutting for Tunnel Robot

针对掘进机器人掘进过程中,因操作不当引起的尖峰负荷,及切割机构的非平稳振动,出现欠挖和超挖,机器损耗加剧问题,以悬臂掘进机巷道自动成形为研究对象,建立了掘进机仿形记忆截割的动态数学模型,推导出截割头运动到半圆拱形巷道边界时,悬臂偏移最大角度和油缸伸长量的通用公式,提出了使用数字液压缸来实现掘进机按照所给巷道运动时各个油缸伸长量的自动掘进控制方法,并利用Pro/E和Adams对EBZ-160型掘进机进行运动仿真和分析,验证了该模型的可行性和优越性,获得较好的仿真结果,具有广泛的通用性。

According to the tunnel robotic tunneling, peak load was caused for disoperation, non-steady vibration stemmed from cutting devices, the problems of ultra-digging and digging owed and machine dissipation aggravating were emerged from. With the study of the tunnel automatic molding of boom-type roadheader, the dynamic model of profiling memory cutting for roadheader was built. When cutting head swings to the boundary of semi-circular arched tunnel the general formula of the largest angle of boom deviation and oil cylinder elongation were gotten. In terms of the given tunnel the auto-tunneling controlling method of using numeric hydraulic cylinder to realize every cylinder elongation for roadheader was put forward. The motion simulation and analysis by Pro/e and Adams was given for EBZ-160 type roadheader. The feasibility and superiority of the model were verified, and the better results were obtained and the research method has extensive commonality.