摘要 针对智能多功能作业机器人在隧道类受限空间的开发应用问题,基于虚拟样机对隧道多功能机器人进行结构开发及设计,运用智能设计理念,对隧道多功能机器人的智能需求进行重构设计;通过数字孪生实现智能化到数字孪生机器人样机的开发和研制,构建了完整的具备可完成隧道、巷道等受限空间中可灵活实施挖掘、破碎、转运等多种作业的隧道智能多功能机器人研发体系。应用试验结果表明,开发研制的机器人在减人提效及提高作业安全性方面的效果显著。该研究填补了我国隧道智能多功能机器人领域开发及研制的空白,为我国智能数字隧道的智慧化、高效化发展及实现提供了参考。 In view of the development and application of intelligent multi-functional working robot in a confined space such as tunnels,the structure of multi-functional tunnel robot is developed and designed based on virtual prototype,and the intelligent requirements of tunnel multi-functional robot are reconstructed and designed by using intelligent design concept.Then,through digital-twin to realize the development from intelligent robot to digital-twin robot prototype,a complete research and development system of intelligent multi-functional tunnel robot is constructed,which can realize the excavation,crushing,transportation and other operations in the tunnel,roadway and other confined space.The practical application shows that the robot has a remarkable effect on reducing the numbers of people and improving safety of operation.The research fills the gaps of development for intelligent multi-functional robot in China,and provides a reference for the intelligent and efficient development and realization of intelligent digital tunnel in China.
出处 《矿业研究与开发》 CAS 北大核心 2021年第1期162-168,共7页 Mining Research and Development
基金 机械工程宁夏回族自治区专业建设项目 宁夏高等学校科学研究项目(NGY2018-256)。
关键词 隧道智能多功能机器人 受限空间 融合系统 数字孪生 Intelligent multi-functional tunnel robot Confined condition Fusion system Digital-twin
