Design Of Control System For TBM Cutter Changing Robot

With the rise of urban underground rail transit construction in our country,tunneling technology of TBM has been already applied widely.However,due to shield long advance and hard strata,the cutters on the cutterhead of the TBM will be inevitable abraded and restrict the efficiency of tunneling.Therefore,changing cutters is necessary.The traditional cutter changing method is that the worker enters the cabinet to carry on the artificial work,this method has bad working environment,high safety risk and low efficiency.Using cutter chaning robot instead of manual cutter changing can reduce cost,improve engineering efficiency and solve the problem of personnel safety during tunneling.Therefore,the research and design of TBM cutter changing robot has become an important research direction to improve the performance of TBM.This paper takes the cutter changing robot designed by the project team as the object of study,the purpose is to design a set of high-performance control system suitable for its characteristics,which can partly replace manual cutter changing.On this paper,firstly,analyzed and summarized the mechanical structure,hydraulic system composition and working states of the cutter changing robot designed by the project team,according to the result,planned the complete cutter changing workflow.Secondly,combined with the current robot design features and requirements of the control system,presented solution of cutter changing robot control system.The control system uses FCS as the control structure,IPC and controller as the hard core,Visual Studio working environment as the software development platform,CAN bus as the communication mode,and gave control plan details of different parts.Third,designed the electrical hardware of the control system,including the calculation of the electrical hardware parameters and determine the type,design power supply circuit and other electrical drawings,determine the external dimensions and internal layout of the control cabinet,etc.Fourth,designed the software of the control system,analyzed control system software requirements of the robot system.used C#programming language and Windows Forms to write program to achieve system bus communication and the basic functions of software,gave program flow charts of various parts.designed man-machine interface of the software.Finally,combined with MATLAB,Solid Works and Lab VIEW software to do the semi-physical simulation experimental research on the manipulator,achieved two basic functions of manual operation mode and automatic operation mode,which verifies the feasibility and the reliability of the control system design and provides a good platform for farther research.