Design And Research Of Slag Cleaning System At The Bottom Of Open-type TBM

This article addresses the current problem of gravel accumulation during hard rock tunnel digging.Based on consideration of the actual conditions inside the tunnel,a six-degree-offreedom slag removal equipment is designed,which adds two sections of telescopic boom structure and rotation to traditional excavation machinery.The arm structure is designed to cope with the small operable space under the main beam of the hard rock roadheader and the working environment of its debris accumulation.The main contents are:(1)Based on the D-H method,the kinematics model of the designed slag-cleaner excavating arm structure is listed,and the homogeneous transformation matrix is listed.The kinematics modeling of the mechanical arm is used to set each rod length and each joint variable.The earth expands the working space of traditional excavation equipment in a narrow space.This equipment successfully solves the problem of how to make the robotic arm work smoothly in a narrow working space.The analysis shows that the newly designed digging arm has the characteristics of multiple degrees of freedom,multiple digging m ethods,and compact structure.The distribution of the working space at the end point basically meets the preset requirements.The analysis of the working space has fully shown that the scheme design can be used in smaller Get larger free movement space within the range.(2)The specific mechanism design is carried out according to the schematic diagram of the mechanism obtained from the kinematics analysis through the two-dimensional design software of Auto CAD and the three-dimensional design software of Solidworks.The actual situation of the tunnel is used as a reference to filter the structural interference of components that are not considered in the schematic diagram Problem,to meet the kinematic requirements described in the previous chapter to the greatest extent,detailed design of the fixed mechanism and moving mechanism of the excavation equipment,that is,the mechanical arm mechanism,meanwhile detailed description of the characteristic design of the slag removal system,and detailed introduction of each component of the mechanical arm The main analysis of the characteristic design of the mechanical arm designed in this paper:the two-stage telescoping arm and the swing arm structure,explaining its main role and its necessity for the project.In addition,the characteristic design of the inner support structure cleverly solves the problem that the mechanical arm is suspended inside the cladding structure.Kinematics verification was achieved by 3D modeling of related parts.The verification results show that the kinematics calculation is correct.(3)Based on the three-dimensional model of mining equipment,the static and dynamic simulation analysis is carried out.Based on the absolute pose matrix obtained by forward kinematics modeling,the three-dimensional model is simulated and analyzed by Adams dynamics simulation software.In order to make the whole mechanism have high reliability,the static analysis of each part of the slag cleaner is carried out,and the response of each structure and the fatigue and life of each part material under a certain load are verified by the Workbench software.The dynamic verification of each joint of the digging arm was carried out.The results show that it runs smoothly and provides strong support for the practical application of mining equipment.After equipment design,kinematics simulation,and dynamics simulation,it has been proved that the excavation equipment designed in this paper can be applied to the actual engineering environment,which can better solve the problem of gravel accumulation in current hard rock tunnel nuggets,and make subsequent The tunnel segments can be laid normally,which improves the construction efficiency of tunnelling and reduces the construction cost of hard rock tunnel excavation.