A short horizontal axis cutting robot and its automatic forming control method are proposed to address the problems of difficult positioning,low cutting efficiency,and poor forming quality of tunne-ling machines during the excavation process of straight wall arched tunnels.Firstly,a series type short horizontal axis cutting robot structure was designed,and a kinematic model of the short horizontal axis cutting robot was constructed.The mathematical relationship between the extension and contraction of the cutting arm lifting oil cylinder,sliding oil cylinder,and rotary oil cylinder and the cutting head pos-ture was established,and an automatic forming control method for straight wall arched tunnels of the short horizontal axis cutting robot was proposed;Secondly,the coupling relationship between the enve-lope space of the short horizontal axis cutting robot's cutting head and the space of the straight wall semi-circular arch roadway was studied and analyzed.The key points of the cutting trajectory during the cutting process were determined,and a"bow"shaped cutting trajectory planning method based on the key points of the cutting trajectory was proposed;Thirdly,based on the established kinematic model of the short horizontal axis cutting robot,solve the motion control variables of the cutting head during the tracking and cutting trajectory process,as well as the control timing of each joint in the three tasks of cutting,trimming,and bottom sweeping;Finally,taking fuzzy PID as an example,a control method for automatic forming and cutting of a short horizontal axis cutting robot was established,and the cutting motion simulation experiment of the short horizontal axis cutting robot was conducted using Adams soft-ware.The results show that the"bow"shaped cutting trajectory planning method can complete the cut-ting trajectory planning of straight wall arched tunnels.Control the cutting head to track and control the cutting trajectory,the automatic forming cutting of the straight wall arched tunnel section is achieved.The maximum under excavation amount of the completed tunnel is 48 mm,and the maximum over exca-vation amount is 21 mm,which meets the quality requirements of coal mine tunnel forming.The study found that the short horizontal axis cutting robot can efficiently and high-quality complete the automatic forming and cutting task of straight wall arched tunnel section without moving the machine left and right along the centerline of the tunnel.
关键词
定形截割/截割机器人/拱形巷道/轨迹规划/模糊PID控制
Key words
set cutting/cutting robot/arched roadway/trajectory planning/fuzzy PID control
维普
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