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小型岩孔喷浆机器人设计及其性能分析
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作者 张忠林 李伟生 +4 位作者 韩瑞琦 李立全 张浩飞 刘强 刘锐 《哈尔滨工程大学学报》 EI CAS CSCD 北大核心 2024年第8期1599-1606,共8页
为实现喷浆作业质量均匀稳定,本文针对岩孔喷浆过程中参数的影响及其控制进行研究,采用涂层建模、理论参数计算与实验验证方法,得到了喷枪参数、进给推进速度是关键影响因素结论。建立了涂层质量与喷枪参数模型和喷涂进给速度匹配方程,... 为实现喷浆作业质量均匀稳定,本文针对岩孔喷浆过程中参数的影响及其控制进行研究,采用涂层建模、理论参数计算与实验验证方法,得到了喷枪参数、进给推进速度是关键影响因素结论。建立了涂层质量与喷枪参数模型和喷涂进给速度匹配方程,应用于实际喷浆机器人的设计和控制系统中。研制了小型喷浆机器人,完成了喷浆机器人的喷涂实验。实验表明:小型岩孔喷浆机器人可实现对模拟实验隧洞道的喷浆支护作业,本文设计的小型岩孔喷浆机器人能够满足使用要求。 展开更多
关键词 喷浆机器人 喷枪参数 喷涂质量 控制系统 喷浆支护 涂层建模 喷涂实验 隧道模拟系统
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小型侧壁钻孔机器人钻孔质量控制方法
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作者 张忠林 吴志强 +2 位作者 李立全 周辉 朱勇 《哈尔滨工程大学学报》 EI CAS CSCD 北大核心 2020年第8期1230-1236,共7页
小型侧壁钻孔机器人在深部巷道/隧道动力灾害物理模拟试验系统中得到了具体应用。由于岩石空洞外径小而细长的有限条件,使得侧壁钻孔非常困难。本文为了提高其钻孔的质量,针对岩孔侧壁钻孔过程中的质量影响与控制进行研究。采用了力学... 小型侧壁钻孔机器人在深部巷道/隧道动力灾害物理模拟试验系统中得到了具体应用。由于岩石空洞外径小而细长的有限条件,使得侧壁钻孔非常困难。本文为了提高其钻孔的质量,针对岩孔侧壁钻孔过程中的质量影响与控制进行研究。采用了力学建模与实验验证的方法,得到了振动、横向进给位移、侧向进给速度是关键影响因素结论。建立了振动力学模型和速度匹配方程,应用在实际机器人的设计和控制系统中,并研制了小型侧壁钻孔机器人,完成其钻孔质量测试实验。测试结果表明:钻孔质量可以很好得到控制,能够满足实际岩孔参数Φ6×90+0.5 mm要求。 展开更多
关键词 小型侧壁钻孔机器人 深部隧道模拟系统 振动力学模型 控制设计 钻孔实验 质量分析
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Model test to investigate failure mechanism and loading characteristics of shallow-bias tunnels with small clear distance 被引量:11
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作者 雷明锋 林大涌 +3 位作者 杨伟超 施成华 彭立敏 黄娟 《Journal of Central South University》 SCIE EI CAS CSCD 2016年第12期3312-3321,共10页
Based on the similarity theory,a tunnel excavation simulation testing system under typical unsymmetrical loading conditions was established.Using this system,the failure mechanism of surrounding rock of shallow-bias t... Based on the similarity theory,a tunnel excavation simulation testing system under typical unsymmetrical loading conditions was established.Using this system,the failure mechanism of surrounding rock of shallow-bias tunnels with small clear distance was analyzed along with the load characteristics.The results show that:1) The failure process of surrounding rock of shallow-bias tunnels with small clear distance consists of structural and stratum deformation induced by tunnel excavation; Microfracture surfaces are formed in the tunnel surrounding rock and extend deep into the rock mass in a larger density; Tensile cracking occurs in shallow position on the deep-buried side,with shear slip in deep rock mass.In the meantime,rapid deformation and slip take place on the shallow-buried side until the surrounding rocks totally collapse.The production and development of micro-fracture surfaces in the tunnel surrounding rock and tensile cracking in the shallow position on the deep-buried side represent the key stages of failure.2) The final failure mode is featured by an inverted conical fracture with tunnel arch as its top and the slope at tunnel entrance slope as its bottom.The range of failure on the deep-buried side is significantly larger than that on the shallow-buried side.Such difference becomes more prominent with the increasing bias angle.What distinguishes it from the "linear fracture surface" model is that the model proposed has a larger fracture angle on the two sides.Moreover,the bottom of the fracture is located at the springing line of tunnel arch.3) The total vertical load increases with bias angle.Compared with the existing methods,the unsymmetrical loading effect in measurement is more prominent.At last,countermeasures are proposed according to the analysis results: during engineering process,1) The surrounding rock mass on the deep-buried side should be reinforced apart from the tunnel surrounding rock for shallow-buried tunnels with small clear distance; moreover,the scope of consolidation should go beyond the midline of tunnel(along the direction of the top of slope) by 4 excavation spans of single tunnel.2) It is necessary to modify the load value of shallow-bias tunnels with small clear distance. 展开更多
关键词 shallow-bias tunnels with small spacing failure mechanism loading characteristics model test
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