Chinese Journal of Mechanical Engineering >

2022 , Vol. 35 >Issue 2: 31 - 31

DOI: https://doi.org/10.1186/s10033-022-00699-z

Mechanism and Robotics

A Φ 6-m Tunnel Boring Machine Steel Arch Splicing Manipulator

  • Yuanfu He ,
  • Yimin Xia ,
  • Zhen Xu ,
  • Jie Yao ,
  • Bo Ning ,
  • Xuemeng Xiao
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  • 1. College of Mechanical and Electrical Engineering, Central South University, Changsha, 410083, China;
    2. State Key Laboratory of High Performance Complex Manufacturing, Central South University, Changsha, 410083, China;
    3. China Railway Construction Heavy Industry Co. Ltd., Changsha, 410100, China;
    4. China Railway Siyuan Survey and Design Group Co. Ltd., Wuhan, 430063, China;
    5. National-Local Joint Engineering Research Center of Underwater Tunnelling Technology, Wuhan, 430063, China

收稿日期: 2021-01-22

  修回日期: 2021-11-11

  网络出版日期: 2022-06-30

基金资助

Supported by Special funding support for the construction of innovative provinces in Hunan Province (Grant No. 2019GK1010), National Key R & D Program of China (Grant No. 2017YFB1302600)

收起

A Φ 6-m Tunnel Boring Machine Steel Arch Splicing Manipulator

  • Yuanfu He ,
  • Yimin Xia ,
  • Zhen Xu ,
  • Jie Yao ,
  • Bo Ning ,
  • Xuemeng Xiao
Expand
  • 1. College of Mechanical and Electrical Engineering, Central South University, Changsha, 410083, China;
    2. State Key Laboratory of High Performance Complex Manufacturing, Central South University, Changsha, 410083, China;
    3. China Railway Construction Heavy Industry Co. Ltd., Changsha, 410100, China;
    4. China Railway Siyuan Survey and Design Group Co. Ltd., Wuhan, 430063, China;
    5. National-Local Joint Engineering Research Center of Underwater Tunnelling Technology, Wuhan, 430063, China

Received date: 2021-01-22

  Revised date: 2021-11-11

  Online published: 2022-06-30

Supported by

Supported by Special funding support for the construction of innovative provinces in Hunan Province (Grant No. 2019GK1010), National Key R & D Program of China (Grant No. 2017YFB1302600)

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摘要

Robotic splicing of steel arches is a challenging task that is necessary to realize the grasping and docking of steel arches in a limited space. Steel arches often have a mass of more than 200 kg and length of more than 4 m. Owing to the large volume and mass of steel arches and the high requirements for accurately positioning the splicing, it is difficult for a general manipulator to meet the stiffness requirements. To enhance the structural stiffness of the steel arch splicing manipulator, a single-degree-of-freedom (DOF) closed-loop mechanism was added to the grasping structure of the manipulator. Based on the basic principle of structural synthesis, a solution model of the single-DOF closed-loop mechanism was developed, and alternative kinematic pairs of the mechanism with different input constraints and output requirements were derived. Based on this model, a design method for a single-DOF closed-loop grasping mechanism and a posture adjustment mechanism for a steel arch was devised. Combined with the same dimensional subspace equivalence principle of the graphical-type synthesis method, 12 types of steel arch splicing manipulator were constructed. By analyzing the motion/force transmission and structural complexity of the steel arch splicing manipulators, the best scheme was selected. A prototype of the steel arch splicing manipulator was manufactured. Adams software was used to obtain clearly the output trajectory of the end of the manipulator. The relative spatial positions of the upper and lower jaws under different working stages were analyzed, demonstrating that the manipulator satisfied the grasping requirements. Through a steel arch splicing experiment, the grasping effect, docking accuracy, and splicing efficiency of the manipulator met the design requirements. The steel arch splicing manipulator can replace the manual completion of the steel arch splicing operation, significantly improving the operation efficiency.

关键词： Steel arch splicing manipulator; Single-DOF closed-loop mechanism; Screw theory; Graphical-type synthesis method; Mechanism design

本文引用格式

Yuanfu He , Yimin Xia , Zhen Xu , Jie Yao , Bo Ning , Xuemeng Xiao . A Φ 6-m Tunnel Boring Machine Steel Arch Splicing Manipulator[J]. Chinese Journal of Mechanical Engineering, 2022 , 35(2) : 31 -31 . DOI: 10.1186/s10033-022-00699-z

Abstract

Robotic splicing of steel arches is a challenging task that is necessary to realize the grasping and docking of steel arches in a limited space. Steel arches often have a mass of more than 200 kg and length of more than 4 m. Owing to the large volume and mass of steel arches and the high requirements for accurately positioning the splicing, it is difficult for a general manipulator to meet the stiffness requirements. To enhance the structural stiffness of the steel arch splicing manipulator, a single-degree-of-freedom (DOF) closed-loop mechanism was added to the grasping structure of the manipulator. Based on the basic principle of structural synthesis, a solution model of the single-DOF closed-loop mechanism was developed, and alternative kinematic pairs of the mechanism with different input constraints and output requirements were derived. Based on this model, a design method for a single-DOF closed-loop grasping mechanism and a posture adjustment mechanism for a steel arch was devised. Combined with the same dimensional subspace equivalence principle of the graphical-type synthesis method, 12 types of steel arch splicing manipulator were constructed. By analyzing the motion/force transmission and structural complexity of the steel arch splicing manipulators, the best scheme was selected. A prototype of the steel arch splicing manipulator was manufactured. Adams software was used to obtain clearly the output trajectory of the end of the manipulator. The relative spatial positions of the upper and lower jaws under different working stages were analyzed, demonstrating that the manipulator satisfied the grasping requirements. Through a steel arch splicing experiment, the grasping effect, docking accuracy, and splicing efficiency of the manipulator met the design requirements. The steel arch splicing manipulator can replace the manual completion of the steel arch splicing operation, significantly improving the operation efficiency.

Key words： Steel arch splicing manipulator; Single-DOF closed-loop mechanism; Screw theory; Graphical-type synthesis method; Mechanism design

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