盾构机换刀机器人抓取机构夹持力建模分析  

Modeling and analysis of clamping force of cutter changing robot of shield machine

作　　者：赵海鸣[1] 黎焕强 彭正阳 柯威 ZHAO Haiming;LI Huanqiang;PENG Zhengyang;KE Wei(School of Mechanical and Electrical Engineering,Central South University,Changsha 410083,China;China Railway Construction Heavy Industry Co.Ltd.,Changsha 410100,China)

机构地区：[1]中南大学机电工程学院,湖南长沙410083 [2]中国铁建重工集团股份有限公司,湖南长沙410100

出　　处：《中南大学学报（自然科学版）》2023年第7期2663-2673,共11页Journal of Central South University:Science and Technology

基　　金：国家重点研发计划项目(2018YFB1306700);湖南省大科城“揭榜挂帅”攻关项目(2022年)。

摘　　要：针对锁钩-销轴式的滚刀抓取机构,基于目前一种适用度较广的间隙接触力模型,考虑接触面摩擦力,建立由滚刀及拆装机构的重力传递至油缸夹持力的数学模型。分析水平工况和竖直工况这2种特殊工况的夹持力模型,进而推导其他工况的抓取机构夹持力模型,并采用ADAMS进行仿真验证。基于换刀机器人试验台开展不同工况下的滚刀夹持状态分析,最后进行对比分析。研究结果表明:夹持力模型计算结果与仿真以及试验结果基本吻合,验证了夹持力模型的正确性,为盾构换刀抓取机构的夹持力输出提供了理论支撑。Aiming at the hook and pin type cutterhead grasping mechanism,based on a widely applicable clearance contact force model and considering the friction of contact surface,a mathematical model for the transfer of gravity from the disc cutter and disassembly mechanism to the holding force of cylinder was established.The clamping force models of horizontal and vertical working conditions were analyzed,and the clamping force models of other working conditions were deduced,and ADAMS was used for simulation verification.Based on the tool changing robot test bench,the cutterhead holding state was analyzed under different working conditions.Finally,the results between the calculation value of the holding force model and the simulation and test results were compared.The results show that the calculation values of the holding force model are basically consistent with the simulation and test results,which verifies the correctness of the model of the holding force and provides theoretical support for the clamping force output of the shield tunneling machine's tool changing gripping mechanism.

关 键 词：滚刀抓取 夹持力 ADAMS仿真 接触力 夹持装置 

分 类 号：U455.44[建筑科学—桥梁与隧道工程]