一种新型TBM清渣机器人机构设计与试验

Design and Experiment of Muck Removal Robot for Tunneling Boring Machine

隧道底部积渣清理是TBM(tunneling boring machine)施工中钢拱架立拱前的必备环节,随着人们对支护质量、施工效率、安全性的要求越来越高,传统的人工清渣难以满足施工要求。基于此,提出一种机器人作业的清渣方法。首先,分析隧道底部积渣分布情况与环境结构特点,获得机器人设计要求,进行新型机器人机构设计;其次,基于Denavit–Hartenberg(D–H)参数法建立其连杆坐标系,进行正逆运动学计算,给出末端位姿矩阵的表达式和逆运动学最优解的选取算法,并进行工作空间计算和分析;然后,以单关节位置控制为例,进行积分分离PID控制器设计;最后,搭建了隧道底部积渣清理试验平台,并进行隧道底部积渣清理试验。结果表明:新型清渣机器人能够实现3 830 mm的作业深度和±45°的作业范围;与传统PID相比,积分分离PID将超调量降低18.7%,解决了位置误差累积引起的关节抖动问题,改善系统控制效果;该清渣机器人作业周期为53 s,可作为敞开式TBM施工过程隧道底部积渣清理的有效解决方案。

Muck removal at the bottom of tunnel is required before steel arch erection in tunneling boring machine(TBM)construction.With the increasing requirements for quality,efficiency and safety,the traditional manual muck removal is difficult to meet the construction requirements.A muck removal method for the robot was proposed.Firstly,the distribution of muck at the bottom of the tunnel and the characteristics of the environmental structure were analyzed,the design requirements of the robot were obtained,and the new robot structure was designed.Secondly,the link coordinate system was established based on the Denavit–Hartenberg(D–H)parameter method,the forward and inverse kinematics were calculated,the matrix of the end positional and the selection algorithm of the optimal solution of the inverse kinematics were presented,and the workspace was calculated and analyzed.The results showed that the robot could achieve a working depth of 3830 mm and a working range of±45°.Then,taking the single joint position control as an example,the integral separation PID controller was designed.Compared with the traditional PID,the overshoot was reduced by 18.7%,and the problem of joint jitter caused by the accumulation of position error was solved.Finally,the test platform of the muck removal robot was built,and the muck removal experiment was conducted.The results showed that it took 53 seconds to clean muck,which could be used as an effective solution for muck removal at the bottom of the tunnel during open TBM construction.