一种适用于机器人换刀的新型滚刀刀座设计与分析

针对传统刀具更换动作复杂、机器人无法快速拆装刀具的问题，分析传统刀具卡块式紧固方式的受力特点，进行联动传动链与结构尺寸综合设计，开发一种连杆闭锁刀具紧固结构，实现机器人一次动作完成刀具快速拆装。利用有限元技术和接触理论，建立刀座紧固力学模型，研究刀座设计参数对刀座结构性能和紧固性能的影响关系；通过ANSYS Workbench平台，分析掘进工作状态下刀座应力分布和变形量，验证新型刀座静强度可靠性。经分析，新型刀座能够实现机器人一次位姿调整下刀具快速拆装，且满足掘进机施工对刀座系统的力学性能要求。

Design and Analysis of a New Cutter Holder of Disc Cutter Suitable for Robot Change

There are many problems in traditional cutter replacement of shield, such as complex replacing action and slow disassemble and assemble of cutters by robot. Accordingly, a connecting rod locking cutter fastening mechanism is designed to realize rapid disassembly and assembly of the disc cutter by robot. The stress characteristics of the traditional clamping cutter fastening method are analyzed, and the linkage transmission chain and structural size are comprehensively designed to develop a connecting rod locking cutter fastening structure. The finite element technology and contact theory are used to establish a mechanical model of cutter holder fastening, and the influence of cutter holder design parameters on the structural performance and fastening performance of cutter holder is studied. Through the ANSYS Workbench platform, the stress distribution and deformation of the cutter holder under tunneling condition are analyzed to verify the reliability of the static strength of the new cutter holder. The analytical results show that the new cutter holder can realize the rapid disassembly and assembly of the cutter under the one time pose adjustment of the robot and meet the mechanical performance requirements of the cutter holder system during shield tunneling.