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

doi:10.3973/j.issn.2096-4498.2024.10.018

Tunnel Construction >

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

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

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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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

Cite this article

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

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

[J]. Tunnel Construction, 2024 , 44(10) : 2094 -2102 . DOI: 10.3973/j.issn.2096-4498.2024.10.018

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