Design Of The Control System Of The Tunnel Second Liner Cutting Robot

In recent years,with the continuous development of science and technology in various countries,artificial intelligence has become the trend of the current era.With the continuous development of all walks of life,considerable advances have been made in robot technology.At the same time,robot technology is a measure of a country's scientific and technological development.Therefore,many many domestic and foreign scholars have conducted in-depth discussions and research on this aspect,but there is still a great space for the development of robot technology,which has reached a high level in many countries,such as the United States,Japan,Germany and so on.However,robot technology in many developing countries is still lagging behind.As a result,the manufacturing and high-precision processing industries in developing countries lag far behind other countries.robots in China have made great progress in recent years,and now there are many well-known robot companies in China,such as Xinsong Robot Co.,Foxconn Technology Group,etc.With the development of China's economy,the circulation of goods is increasing day by day,and the safety of tunnels has become an important factor affecting the transportation of goods.Due to the constant traffic of transport vehicles and the change of soil pressure around the tunnel,the lining of the tunnel is slightly deformed.For example,large-scale soil excavation and deep pit construction near the tunnel will indirectly cause tunnel lining deformation.Accumulating over a long period will ultimately lead to the collapse or deformation of the tunnel lining,and affect the safety of the tunnel then indirectly cause goods transportation difficulties,which will increase the risk of carriage of goods.In order to eliminate this tunnel safety hazard,it is necessary to ring cut the second-lining concrete of the tunnel.The steel reinforcement and waterproof material in the concrete lining of the tunnel are cut through the ring cut,the deformed second lining of the tunnel is removed,and the concrete lining is rebuilt to achieve the purpose of repair.To solve this problem,a four-degree-of-freedom tunnel lining ring-cutting robot is designed.(1)Determine the type of four-degree-of-freedom cutting robot joints by analyzing the working tasks of the ring-cut tunnel lining.Modeling forward and inverse kinematics,the working space of the robot can be analyzed through the forward kinematics equations,so as to determine whether the robot can complete the cutting task.(2)Establish a mathematical model of the tunnel ring section,collect the coordinates of the tunnel lining ring section,and fit the tunnel ring section model using the least squares fitting algorithm.The cutting path was deduced according to the cutting process requirements,and the experimental data were verified.(3)Cutting robot control system,hardware: servo drive and DSP-based motion control card,giving the structural schematic and electrical schematic of the hardware.Software: Based on the MFC platform development,the software function diagram and some algorithm flow charts are given.