ICIRA2021 Plenary Speech Given by Prof. Huayong Yang

2021-04-30 11:16:00

Introduction of TBM cutting tools inspection and replacement robot

August 8, 2021, Yantai

Presentation Abstract

During the construction of the TBM, the cutting tools are consumed and replaced frequently, and the time of cutting tools inspection operation takes up a large number of tunnel construction cycles. The existing cutting tools inspection work mainly depends on manual operation. There are many hidden dangers in the construction environment such as large buried depth and high pressure, and it is easy to cause major safety accidents such as personal injury and death.

However, due to the harsh environment of the cutter head during the construction process of the TBM and the limitation of the narrow space, it is difficult to inspect and replace the cutting tools by conventional means. Therefore, it is imperative to realize the cutting tools inspection and replacement operation with an efficient and safe “machine substitutes for human " operation mode.

In this talk, the key problems in cutting tool robotic inspection and replacement will be discussed. And the cutting tool & cutter head inspection robot will be introduced, including the design of protection technology under high pressure and high humidity, tip-following path planning technology, and highly efficient human-computer interaction based on virtual environment to solve the problems of traditional manual inspection. After that, heavy load cutting tools replacement robots suitable for narrow workspaces will be introduced, mainly focusing on its mechanism design and high power density driving technology to solve the problem of narrow workspace operation, precise positioning, and quick tool disassembly. Finally, the prospect of "machine substitutes for human" replacement in cutting tools robotic inspection & replacement is proposed.

Bio Sketch

Prof. Huayong Yang received his B.Sc. from Huazhong University of Science and Technology, China in 1982 and Ph.D. degree from the University of Bath in 1988. He has been with Zhejiang University since 1989, and was made a full professor in 1996. He is currently the head of the School of Mechanical Engineering at Zhejiang University.  He is a member of the Chinese Academy of Engineering. He was awarded Joseph Bramah Medal in 2017 and is a member of the board of directors in Global Fluid Power Society (GFPS) since 2018.

He holds more than 290 invention patents and published authored over 380 peer-reviewed journal papers.

His research interests are in motion control and energy saving of mechatronic systems, development of fluid power components and system, integration of electro-hydraulic system and engineering applications, 3D bioprinting machine and biofabrication applications.