一种新型TBM清渣机器人机构设计与试验

隧道底部积渣清理是TBM施工中钢拱架立拱前的必备环节。随着对支护质量、施工效率、安全性要求越来越高，传统的人工清渣越来越难以满足施工要求，清渣机器人是破解这一难题的重要手段。首先，分析隧道底部积渣分布情况与环境结构特点，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，给出了末端位姿矩阵表达式和逆运动学解析解，并进行工作空间计算和分析，结果表明机器人能够实现3830mm的作业深度和±45°的作业范围；基于拉格朗日方程建立其动力学模型，采用五次多项式进行关节空间轨迹规划，并将规划的位移、速度、加速度代入动力学模型，获得关节驱动力矩仿真曲线，为摆动缸、直线油缸等驱动件的选型提供依据；然后，以单关节位置控制为例，进行积分分离PID控制器设计，与传统PID相比，将超调量降低18.7%，解决位置误差累积引起的关节抖动问题；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实验，结果表明，该清渣机器人作业周期为53s，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。

Design and Experiment of Muck Removal Robot for Tunneling Boring Machine

Muck removal at the bottom of tunnel is required before steel arch erection in tunneling boring machine construction. With the increasing requirements for support quality, construction efficiency and safety, the traditional manual muck removal is difficult to meet the construction requirements. The muck removal robot is an important means to solve this problem. Firstly, the distribution of muck accumulation at the bottom of the tunnel and the characteristics of environmental structure are analyzed, and a new robot mechanism is designed. Secondly, the linkage coordinate system is established based on Denavit-Hartenberg (D-H) parameter method, the forward and inverse kinematics are calculated, the end pose matrix and inverse kinematics analytical solution are given, and the workspace is calculated and analyzed. The results show that the robot can achieve a working depth of 3830mm and a working range of ± 45 °. The dynamic model is established based on Lagrange equation, and the quintic polynomial is used for joint trajectory planning, and the planned displacement, velocity and acceleration are substituted into the dynamic model to obtain the joint driving torque simulation curve, which provides a basis for the selection of driving parts such as swing cylinder and linear cylinder. Then, taking the single joint position control as an example, the integral separation PID controller is designed. Compared with the traditional PID, the overshoot is reduced by 18.7%, and the problem of joint jitter caused by the accumulation of position error is solved. Finally, the slag cleaning test platform is built, and the slag cleaning experiment is carried out. The results show that it takes 53 seconds to clean muck, which can be used as an effective solution for muck cleaning at the bottom of the tunnel during open TBM construction.