中国机械工程2026，Vol.37Issue(5)：1037-1044,1081,9.DOI:10.3969/j.issn.1004-132X.2026.05.003
盾构换刀机器人设计与应用
Design and Applications of Disc Cutter Changing Robots for Shield Machines
摘要
Abstract
To address the problems of high labor intensity,high operational risk,and low operational efficiency in manual disc cutter changing during shield tunneling machine construction,a changing operation plan using robot instead of humans was proposed.A new type of tool system suitable for robot operation and a high-power density redundant degree of freedom robot mechanisms were designed.The D-H parameter method was used for kinematic modeling,the robot pose calculation was achieved.The rapidly-exploring random tree(RRT)algorithm was used for robot tool change path planning,the obstacle avoidance path calculation was achieved during the motion processes.Based on the B-spline curves,the robot joint motion trajectory calculation was achieved.A simulation analysis platform was built for robot tool changing,and the effectiveness of the proposed solution was verified.Finally,a tool changing robot test bench was built,and a tool changing robot control system was constructed based on the operation layer,control layer,and execution layer.The feasibility of the tool changing robot system design scheme was verified through pa-rameter calibration,laboratory and engineering testing.关键词
盾构机/换刀机器人/结构设计/仿真分析Key words
shield machine/disc cutter changing robot/structure design/simulation analysis分类
信息技术与安全科学引用本文复制引用
姜礼杰,杨航,韩冬,孙颜明,王一新,吴乾坤,贾连辉..盾构换刀机器人设计与应用[J].中国机械工程,2026,37(5):1037-1044,1081,9.基金项目
国家重点研发计划(2018YFB1306700 （）
2023YFB2603604) （）
