隧道机器人在复杂环境下记忆切割的运动学和仿真分析毕业论文外文翻译.docx

英文原文AbstractConsidering the actual conditions of the roadway drivage for the tunnel robotic, the law of cutting enveloping surface motion in space does not change along with selection of coordinates, roadheader link coordinates and its work coordinates were established.Combined the spatial location of cutting head cutting enveloping surface with the geometric analysis of its mechanism, the mathematical model of profiling memory cutting between enveloping surface and angular sensors detection data for tunnel robot was built. The influence factors of cutting roadway cross-section shape dimension such as the roadway slope, inclination and link mechanism were described. The relation between the spatial location of enveloping surface and angular displacement was described. The real-time and reliability of the model were verified through simulating the motion path of profiling memory cutting.This approach provides a theoretical foundation for the realization of the real-time monitor and auto control of tunnel robot cuttingroadway cross-section.Keywords: tunnel robot; kinematics; coordinate transformation; modeling1. IntroductionRoadheader is the most important equipment of mechanized roadway head1. Through cutting head drilling and boom swing, roadheader cuts tunnel into requested shape. The profiling memory cutting of roadheader can get the tunnel of uniform geometry and desired size, according to a laneway projected dimension. The useless tunneling and filling quantity is reduced, tunneling efficiency increased, tunnel driving cost reduced maximally, and economicefficiency is dramatic. To implement the automation of drivage, the profiling cutting research of boom-type roadheader has already begun in domestic and overseas2-7, but is at the beginning stage of theories probing and trial debug phase8-9.It is an important constituent of robotic roadheader with positive sense on auto-roadheader. Considering the actual conditions of the roadway drivage for the tunnel robotic, and that the law of cutting enveloping surface motion in space does not change along with selection of coordinates, roadheader link coordinates and its work coordinates were established. The mathematical model of the factors of influencing cutting roadway cross-section shape dimension such as the roadway slope, inclination and link mechanism, was built. The relation between the spatial location of enveloping surface and angular displacement was described. The motion trail of longitudinal axis type tunnel robot profiling memory cutting was simulated. This approach provides a scientific foundation for the realization of the real-time monitor and auto control of tunnel robot cutting roadway cross-section. 2. Kinematics analysis of tunnel robot profiling memory cuttingAccording to given laneway dimension and roadheader parameter, the tunnel robot, through selecting the cutting process and the memory storage and autocontrol of computer, realizes the memory cutting of cutterhead. When there is an obvious change in geological condition, the driver carries out the hand operation cutting (as the vernier regulation of position program) and the tunnel robot automatically refreshes memory to store the adjusted running parameters.The computer serves as the work processor of cutter adjustment5.2.1. Building cutter rotate surface equationCutter enveloping surface is an importance parameter in the geometric parameter of cutter. When cutter revolves round its axis, there is an intersection between all tooth cusps of cutter picks and parallel surface of axes. The enveloping curve of tooth cusp of cutter picks is gained through connecting these intersections. The spatial enveloping surface of cutter is obtained when the enveloping curve revolves round its axis. For simplified calculation, it acts as research object to adopt the parabola revolving round z axis to generate the enveloping surface in Fig. 1. If parabola equation is z = ax2 + c , then enveloping surface equation of parabola revolves round z axis to getM is any point on the enveloping surface, and r is the length from M point to z axis.Fig. 1. The enveloping surface2.2. Built the kinematical equation of tunnel robot profiling memory cuttingThe main mechanisms-boom of tunnel robot is made up of a new line of articulating rods. It is a complicated multiple-joint mechanical arm. These operating mechanisms have the tremendous rigidity, so their distortion which is caused by external force is very small. Therefore, they simplify the rigid arm to be the same length as the actual length.The boom lifting mechanism of roadheader is simplified into the rocker mechanism. The initial condition of roadheader is defined as the state of keeping the boom of longitudinal axis roadheader in horizontal parallel to road central lines. 1) Cutting agencies. Cutting the drive from AC motor-driven, in the transmission system located in the general profile coupling with no mechanical overload protection device, the two planets reducer driven spindle front of the cutting head. Some sections of the working bodies boring machine has cut chain, disc-milling and cutting-such as cantilever. Cantilever due to the cutting-boring machine body flexible, relatively small, can cut a variety of shapes and sections of the roadway, and to achieve selective cutting, but cutting good effect, a higher rate of boring, so now used mainly cantilever Cutting-and has become boring machine working body of a basic pattern. By cutting head of the layout, is divided into horizontal and vertical axis of the two. The line-cutting head of the advantages are: Transmission convenient, compact and can be cut to any shape of the profile, easy access to the formation of a cross-section and is conducive to expansion in the use of cantilever, or ditch digging, in Waterloo. Cutting head the shape of a cylindrical, cone and the cone and cylindrical, as the latter two cutting head to drilling, and the cutting surface than the formation, use it more. This is the work of the shortcomings: As the longitudinal axis of cutting head in the horizontal swing at the cutting reaction force is not passed machine centres, with cantilevered form of torque to boring machine have a greater vibration, stability is poor. Therefore, the coal roadway excavation, the need to increase the body weight or support the installation of auxiliary equipment. At present, such a boring machine in some sections of the use of more boring machine. 2) Shipment of bodies. It generally from the middle loading and conveyor components. They were driven or focus may be linked, either by AC motor drive, can also be used hydraulic motor drive. Trailing claw-is to use a turn moves the rake claws to continue to rake materials and in a reprint from transport operators. This structure is simple, reliable, small form factor, loading good effect, the application is widespread. However, such institutions loading width restricted (because boring machine running track when agencies generally do not arouse). To expand the loading width, will shovel the entire harrow board, together with the claw agencies in the level of swing, or design dual rake claws, to expand the scope of loading. Institutions than the rake-wheel-claw simple, high intensity, reliable, but with less bulk materials. Loading agency programme is not only the installation of the claw-rake-wheel can also be installed, the two can be used interchangeably. Usually, the choice rake claw-loaded, but considering loading width of the problem, may choose to double rake claws, can also be designed to rake claw-round interchangeable with the loading mechanism. Some sections boring machine use of scraper chain conveyor agencies. Transportation agencies are generally undertaken by the tail to the nose tilted upward direction of the layout. Transportation agencies can be the driver, is about to motor or hydraulic motor and reducer layout in the scraper conveyor and around the side of the fuselage, the body in the driver loading at the same time, indirectly, to transport bodies to take the initiative to the tail shaft driven scraper Transportation agencies. This drive system components in small, relatively simple bodies, but loading and transportation agencies involved in the two campaigns, mutual influence. As the location less space layout more difficult. Transmission organizations to adopt an independent driver, is about to motor or hydraulic motor layout away from the machine side, driven by slow delivery agencies. This mode of transmission drive layout simple, and filling the campaign Hubuyingxiang. However, due to transmission and more dynamic components, the point of failure has increased. At present, the two transportation agencies are used, as appropriate, the design should be identified. General loading and institutions often use the same drive. Loading agencies can use motor-driven, can also be used hydraulic motor drive. However, in consideration of the working environment and wet with mud, optional hydraulic motor drive for good. 3) Run institutions. Walking agencies tracked the general pattern, crawler-run institutions apply to the floor is uneven or soft conditions, no road track laying. Traction with large capacity, good mobility, reliability, flexibility and mobility on the floor adaptability of the advantages of good. But its complex structure, components and wear more serious. At present cross-section of the boring machine is usually used crawler-run institutions. Walking agencies tracked the general pattern, the two tracked separately by the respective power to drive, to achieve in situ. Caterpillar is the driving force of two motors and hydraulic motors, motor driver is generally set up a walking speed, hydraulic motor-driven large low-speed torque motor can be driven directly tracked sprocket, or used in the hydraulic motor speed Reducer led the drive sprocket track, it can achieve Promise governor. Tracked structure of a sliding and rolling two, when the speed machine to mobilize 10 m / min in the light Roadheader, should adopt the structure of sliding when the mobilization of speed machines> 10 m / min of heavy, severe Roadheader should be used Rolling structural type. 4) The hydraulic system. Hydraulic systems use of open-way valve system more centralized control (direct or remote control manipulation) way. Domestic and foreign use of the past, gear pumps, hydraulic system in recent years Roadheader used piston pump have increased the trend. 5) Electronic control system. Electronic control systems, including some power, control and inspection of the part. Electronic control system must be in accordance with the requirements of coal mine explosion-proof design, manufacture, testing, GB3836-2000 must meet the standards of the relevant provisions and requirements. In order to improve operations at the Roadheader in the security, operational flexibility and mechanical transmission part of the fault diagnosis and monitoring functions, from the practical point of view, the installation of the necessary machines from a remote control device, monitoring pressure, temperature, level and key parts the fault diagnosis device.2.2.1. Coordinate transformation and building rotate surface equationConsidering the actual working conditions of the roadheader, the horizontal inclination 1q , 2 q of any time of anywhere possibility exists at machine body working direction and machine body side direction. The telescopic oil cylinder stretches forward DL as cutting. When roadheader swings both right and left under the action of rotating oilcylinder, supposing swing angle isa . When roadheader swings both up and down under the action of lifting oil cylinder, supposing swing angle isb .Giving every rod a coordinate, these coordinates are described by using homogeneous coordinates, namely relative position and direction of connecting rod. All coordinates relative positions of keeping the boom of longitudinal axis roadheader in the point are chosen as the coordinates origin. The rectangular coordinate o-xyz is set up and plane xoz locates rotary table plane. 6 o is the crossing point between boom and rotary table, coordinates o6 - 6 6 6 x y z is established and the length between o and 6 o is the rotary table radius R in Fig. 2. 5 o is the origin from which machine body at working direction generates the inclination 1q and builds the rectangular coordinate 5 o - 5 5 5 x y z . Plane 5 5 5 y o z is got by plane 6 6 6 y o z around 6 x axis negative rotation 1q and the axis 6 x is paralleled to axis 5 x . 4 o is the origin from which machine body at side direction generates the inclination 2 q and builds the rectangular coordinate 4 o - 4 4 4 x y z . Plane 4 4 4 x o y is got by plane 5 5 5 x o y around 5 z axis negative rotation 2 q and the axis 4 z is paralleled to axis 5 z . 3 o is the origin from which the telescopic oil cylinder stretches forward DL and builds the rectangular coordinate 3 o - 3 3 3 x y z . The corresponding coordinate axis of both coordinates 3 o - 3 3 3 x y z and coordinates 4 o - 4 4 4 x y z is parallel. 2 o is the origin from which the boom cutting both right and left generates the swing angle a and builds the rectangular coordinate 2 o - 2 2 2 x y z . Plane 5 5 5 x o z is got by plane 3 3 3 x o z around 3 y axis negative rotation a and the axis 2 y is paralleled to axis 3 y . 1 o is the origin from which the boom cutting both up and down generates the swing angle b and builds the rectangular coordinate 1 o - 1 1 1 x y z . Plane 1 1 1 y o z is got by plane 2 2 2 y o z around 2 x axis negative rotation b and the axis 1 x is paralleled to axis 2 x . 0 o is the crossing point between boom and cutter, and the point is chosen as the coordinate origin. The cutter rotation surface equation is set up. The corresponding coordinate axis of both coordinates o - xyz and coordinates 1 o - 1 1 1 x y z is parallel. Fig. 2. All coordinates relative position of keeping the boom in horizontal1) Any point P( 0 x , 0 y , 0 z ) on the rotaion surface translates coordinate transform along z axis to make point 0 o coincide with point 1 o . Its transformation matrix is2) Turn plane 1 1 1 y o z around 4 x axis clockwise rotation b to be perfectly coplanar to plane 2 2 2 y o z , then turn plane 2 2 2 x o z around 3 y axis clockwise rotation a to be perfectly coplanar to plane 3 3 3 x o z . Its transformation matrix is3) By point 3 o , translate the length DL along z axis to 4 o . Its transformation matrix is4) Turn plane 4 4 4 x o y around 4 z axis clockwise rotation 2 q to be perfectly coplanar to plane 5 5 5 x o y , then turn plane 5 5 5 y o z around 5 x axis clockwise rotation 1q to be perfectly coplanar to plane 6 6 6 y o z . Its transformation matrix is5) Translate point 6 o along 6 z axis to the center of rotation o . Its transformation matrix isThen the spatial coordinate equation of cutter