盾构渣土改良效果评价机器人搅拌探头选型分析

Mixing Probe Selection of Evaluation Robot for Soil Conditioning Effect of Shield

为实现土压平衡盾构渣土改良效果的动态监测,须开展渣土改良效果实时评价机器人的研究。搅拌探头作为机器人唯一与渣土接触的部件,其形状对搅拌转矩与贯入阻力检测的灵敏度至关重要。将盾构渣土假定为Bingham流体,开展不同形状搅拌探头贯入搅拌不同流变参数渣土的正交仿真试验,观测探头贯入、搅拌渣土过程中贯入阻力与搅拌转矩的变化规律。基于仿真结果,利用层次分析法对搅拌探头进行选型分析,得到可以同时兼顾贯入阻力与搅拌转矩检测灵敏度要求的搅拌探头,并通过室内试验对选型结果进行验证。

A real-time evaluation robot for soil conditioning effect is investigated to realize dynamic monitoring of the soil conditioning effect of the earth-pressure balance shield.As the only part of the robot that is in contact with the muck,the shape of the stirring probe is of great importance to the sensitivity of the mixing torque and penetration resistance detection.In this study,the shield′s muck is assumed to be the Bingham fluid,and the orthogonal simulation experiments are conducted to observe the resistance changes when mixing probe penetration and the torque,where the soil is mixed under different rheological parameters.Therefore,based on the simulation results,the selection analysis of the mixing probe is conducted using the analytic hierarchy process method to obtain a mixing probe that could consider both penetration resistance and detection sensitivity requirements of mixing torque.Finally,the selection results are verified by laboratory tests.