六自由度管片拼装机抓持装置设计分析  

Design and analysis of gripping device of grasping device for six-degree-freedom pipe segment assembly machine

作　　者：曹甜雨 许京伟 曹润宇 邱健 成保忠 李贝贝 Cao Tianyu;Xu Jingwei;Cao Runyu;Qiu Jian;Cheng Baozhong;Li Beibei(Institute of Intelligent Road-heading Technology and Equip-ment,Jinan Heawy Industry Co.,Ltd.,Jinan 250109;Jinan Railway Transportation Group Construction Investment Co.)

机构地区：[1]济南重工股份有限公司智能掘进技术与装备研究院,山东济南250109 [2]济南轨道交通集团建设投资有限公司,山东济南250101

出　　处：《土木工程学报》2024年第S1期141-146,共6页China Civil Engineering Journal

基　　金：泰山产业领军人才工程专项经费(股研2022-05)。

摘　　要：管片拼装机作为隧道掘进机中的重要组成装置,承担着隧道成形的重要功能。针对传统管片拼装机抓持装置结构复杂、操作繁琐等缺点,设计出了一种新型六自由度管片拼装机抓持装置。设计了六自由度管片抓持装置的具体结构,并建立起三维模型;对新型抓持装置运动学特性进行了计算分析,并通过图表表现了不同抓持油缸在不同条件下的行程轨迹,便于进行管片位姿控制;列举了管片拼装时的几种常见工况,根据实际工况对抓持装置受力情况进行了分析,得到了抓持油缸的受力情况,便于进行抓持油缸的选型应用。六自由度管片拼装机抓持装置相对传统管片拼装机抓持装置有更简单的结构,更广阔的运动范围,以及更简单的操作流程,为管片拼装机的多方面设计、多角度应用提供了参考,为隧道掘进装备提供了新的解决方案。As an important component of tunnel boring machines,the pipe segment assembly machine plays a crucial role in tunnel forming.A new type of six degrees of freedom pipe segment assembly machine gripping device was designed to address the shortcomings of traditional pipe segment assembly machines,such as complex structure and cumbersome operation.The specific structure of a six degree of freedom pipe gripping device was designed and a three-dimensional model was established;The kinematic characteristics of the new gripping device were calculated and analyzed The stroke trajectories of different gripping cylinders under different conditions were represented in charts,which facilitates the control of pipe's positioning;Several common working conditions during pipe segment assembly were listed,and the force situation of the gripping device was analyzed based on actual working conditions.The force situation of the gripping oil cylinder was obtained,facilitating its selection and application.The gripping device of the six degree of freedom pipe segment assembly machine has a simpler structure,wider range of motion,and simpler operation process compared to the traditional pipe segment assembly machine gripping device,providing reference for the multi-faceted design and multi angle application of pipe segment assembly machines,and offering new solutions for tunnel excavation equipment.

关 键 词：管片拼装机 抓持装置 运动学 设计分析 

分 类 号：U455.31[建筑科学—桥梁与隧道工程]