Building Model and Virtual Simulation of Profiling Memory Cutting for Tunnel Robot

Abstract

According to the tunnel robotic tunneling,peak load was caused for disoperation,non-steady vibration stemmed from cutting devices,the problems of ultra-digging and digging owed and machine dissipation aggravating were emerged from.With the study of the tunnel automatic molding of boom-type roadheader,the dynamic model of profiling memory cutting for roadheader was built.When cutting head swings to the boundary of semi-circular arched tunnel,the general formula of the largest angle of boom deviation and oil cylinder elongation were gotten.In terms of the given tunnel,the auto-tunneling controlling method of using numeric hydraulic cylinder to realize every cylinder elongation for roadheader was put forward.The motion simulation and analysis by Pro/e and Adams was given for EBZ-160 type roadheader.The feasibility and superiority of the model were verified,and the better results were obtained and the research method has extensive commonality.