TBM换刀机器人新型刀具系统设计分析

刘四进; 马浴阳; 王华伟; 王军; 薛峰; 魏英杰; 喻星乔

doi:10.3973/j.issn.2096-4498.2024.10.018

隧道建设 >

2024 , Vol. 44 >Issue 10: 2094 - 2102

DOI: https://doi.org/10.3973/j.issn.2096-4498.2024.10.018

施工机械

TBM换刀机器人新型刀具系统设计分析

刘四进 ,
马浴阳 ,
王华伟 ,
王军 ,
薛峰 ,
魏英杰 ,
喻星乔

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(1. 中铁十四局集团有限公司，山东济南 250101； 2. 中国铁建水下隧道工程实验室，山东济南 250101；3. 东南大学网络空间安全学院，江苏南京 211189)

刘四进(1988—),男,安徽宿松人,2017年毕业于西南交通大学,桥梁与隧道工程专业,博士,高级工程师,主要从事隧道及地下工程研究工作。E-mail: ahlsj@126.com。*通信作者：马浴阳， E-mail: phdyyma@163.com。

网络出版日期: 2024-11-12

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Design and Analysis of a Novel Cutter System for a Cutter-Changing Robot in Tunnel Boring Machines

LIU Sijin ,
MA Yuyang ,
WANG Huawei ,
WANG Jun ,
XUE Feng ,
WEI Yingjie ,
YU Xingqiao

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1. China Railway 14th Bureau Group Corporation Limited, Jinan 250101, Shandong, China; 2. China Railway Construction Underwater Shield Tunnel Engineering Laboratory, Jinan 250101, Shandong, China; 3. School of Cyber Science and Engineering, Southeast University, Nanjing 211189, Jiangsu, China)

Online published: 2024-11-12

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摘要

为解决TBM掘进过程中传统滚刀换刀周期长、安全隐患大等问题，研制一种可用于机器人更换滚刀的新型刀具系统并对其进行动力学分析。采用牛顿第二定律和集中质量参数法建立新型刀具系统的动力学微分方程，并利用Newmark数值方法进行求解，分析系统各构件响应规律；设计并开展新型刀具系统缩尺样件振动试验，验证新型刀具系统在实际破岩时的动力学行为，进行基于实测载荷的系统动态响应分析。研究结果表明： 1）滚刀的理论与试验垂向振动位移均值相对误差为9.99%，刀箱的理论与试验垂向振动位移均值相对误差为5.18%，验证了所建立的系统垂向动力学模型的正确性； 2）实际载荷下系统振动均方根值和幅值最大值分别为0.230 mm和0.700 3 mm，为预测系统在实际破岩时的动力学行为提供理论依据。

关键词： Newmark数值方法; 刀具系统; 动力学响应; 质量法; TBM; 换刀机器人

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刘四进 , 马浴阳 , 王华伟 , 王军 , 薛峰 , 魏英杰 , 喻星乔 . TBM换刀机器人新型刀具系统设计分析[J]. 隧道建设, 2024 , 44(10) : 2094 -2102 . DOI: 10.3973/j.issn.2096-4498.2024.10.018

Abstract

Traditional disc cutter replacement in tunnel boring machines presents significant challenges, such as long cutter replacement cycles and high safety risks. To address these issues, a novel cutter system for robot-assisted disc cutter replacement is developed. The dynamics of this system is analyzed. The dynamic differential equations of this system are established using Newton′s second law and the concentrated mass parameter approach, and the Newmark numerical technique is applied to solve them. The response patterns of each component are analyzed. In addition, a vibration test is performed on a scaled prototype of this system to assess its dynamic behavior during rock breaking, followed by a system dynamic response analysis based on the measured loads. The results indicate the following: (1) The relative error of the average vertical vibration displacement between the theoretical and experimental values of the disc cutter is 9.99%, and that of the cutter box is 5.18%, validating the accuracy of the established vertical dynamics model of the system. (2) The root mean square value and the maximum amplitude of the system vibration under load are 0.230 and 0.700 3 mm, respectively, providing a theoretical basis for predicting the dynamic behavior of the system during rock breaking.

Key words： Newmark numerical method; cutter system; dynamic response; mass method; tunnel boring machine; cutter-changing robot

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