WInBot: A Disc Cutter Wear Inspection Robot for a Tunnel Boring Machine

Yudai Yamada, R. Fukui, S. Warisawa, Eiichi Morioka, Masaaki Uetake, Shin’ichi Terada
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引用次数: 2

Abstract

During excavation, the disc cutter (DC) of a tunnel boring machine (TBM) will experience wear. WInBot, a DC wear inspection robot, is developed for 5 m-diameter-class TBMs and two wear measurement methods are proposed. WInBot has a high expansion ratio actuator to allow operation in the narrow space around the cutter head. The measurement arm can extend widely and can be compacted 2.7 and 1.5 times for vertical and horizontal expansion and contraction ratios, respectively. WInBot acquires point cloud data for a DC surface or other parts and estimates the amount of DC wear using an iterative closest point matching algorithm. Experiments are conducted to examine the accuracy of the proposed measurement methods. When only DC surface data is used, the estimation accuracy drops when the DC is severely worn and its geometric features disappear. The other method, which uses additional parts, is resistant to the difference in DC wear and achieves measurements accurate to 1 mm.
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WInBot:隧道掘进机盘式刀具磨损检测机器人
在开挖过程中,隧道掘进机的圆盘刀(DC)会发生磨损。针对直径5 m级掘进机,研制了直流磨损检测机器人WInBot,并提出了两种磨损检测方法。WInBot有一个高膨胀比的驱动器,允许在刀头周围的狭窄空间内操作。测量臂可广泛延伸,垂直和水平伸缩比可分别压缩2.7倍和1.5倍。WInBot获取直流表面或其他部件的点云数据,并使用迭代最接近点匹配算法估计直流磨损量。实验验证了所提出的测量方法的准确性。当仅使用直流表面数据时,当直流严重磨损且其几何特征消失时,估计精度下降。另一种方法使用额外的部件,可以抵抗直流磨损的差异,并实现精确到1毫米的测量。
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