隧道打眼机器人在地铁电气化施工中的应用

Application of Tunnel Drilling Robot in Subway Electrification Construction

文章以自由度液压钻孔机器人为主要研究对象,该机器人主要解决传统地铁电气化施工中吊柱附加悬挂打眼难、施工质量差、安全隐患大的问题,如以前用梯车人工电钻钻孔,存在设备作业能力单一、钻孔作业效率不高、安全隐患大、自动化程度低等问题,将虚拟关节和Denavit-Hartenberg参数表相互结合,形成机器人运动学模型,有效分析机器人运动学逆解。同时,为提高孔位精度,对逆解进行工程化处理,获得正确的逆向运动学解算,编制相关算法,合理控制机器人实现自动钻孔运动,实现在模拟隧道环节下进行真机试验验证。通过试验结果显示,隧道打孔机器人有效满足隧道中不同孔位安装的尺寸要求,能利用轨道大眼机器人来调整自身打孔位置,将钻孔位置偏差率控制在10mm范围内,有效提高隧道自动钻孔性能。

This paper takes the hydraulic drilling robot of degree of freedom as the main research object.The main purpose of this robot is to solve the problems of bollards,additional suspension drilling difficulties,poor construction quality and big safety risks in traditional subway electrification construction.For example,the artificial electric drill drilling with ladder car in the past has single equipment operation capacity,low drilling efficiency,big safety risks and low degree of automation.The virtual joint is combined with the Denavit-Hartenberg parameter table to form a robot kinematic model and effectively analyze the inverse kinematics of the robot.At the same time,in order to improve the accuracy of the hole position,the inverse solution was engineered to obtain the correct inverse kinematics solution,and relevant algorithms were compiled to reasonably control the robot to realize automatic drilling movement and realize the real machine test verification under the simulation tunnel link.The experimental results show that the tunnel drilling robot can effectively meet the size requirements of different hole positions in the tunnel,and can use the track large-hole robot to adjust its own drilling position,control the deviation rate of the drilling position within the range of 10 mm,and effectively improve the performance of automatic tunnel drilling.