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浙江大学学报(工学版)
Journal of ZheJiang University (Engineering Science)  2023, Vol. 57 Issue (2): 392-403    DOI: 10.3785/j.issn.1008-973X.2023.02.018
    
Βearing performance of integrated cutter holder structure suitable for robot cutter change
Yi-min XIA1,2(),Yu-hang LANG1,2,Zhi-yong JI3,Yong REN3
1. State Key Laboratory of High Performance Complex Manufacturing, Central South University, Changsha 410083, China
2. College of Mechanical and Electrical Engineering, Central South University, Changsha 410083, China
3. China Railway Construction Heavy Industry Co. Ltd, Changsha 410100, China
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Abstract  

The loading state of integrated cutter holder system was analyzed by combining numerical simulation with experimental research, in order to improve the bearing performance of integrated cutter holder system. Combined with the automatic assembly process of cutters, the linkage relationship between each structural parameter in integrated cutter holder system and the influence of different structural parameters on its bearing performance were studied. The structural parameters significantly affecting the bearing performance of integrated cutter holder system were optimized based on the weight matrix method of orthogonal test. Results showed that the influence degree of each test factor on the bearing performance of integrated cutter holder system in descending order was as follows: the neck fillet radius of rotating block, the width of rotating block, the vertical distance between cutter shaft and rotating block shaft. The optimal scheme for comprehensive performance of integrated cutter holder system was obtained as follows: the width of rotating block was 107.5 mm, the neck fillet radius of rotating block was 60.0 mm, and the vertical distance between cutter shaft and rotating block shaft was 97.5 mm. Compared with the original scheme of integrated cutter holder system, the overall maximum deformation was reduced by 11.31%, the maximum stress of end cap was reduced by 34.07%, and the maximum stress of rotating block was reduced by 41.01%.

Key words： robot cutter change      integrated cutter holder      bearing performance      orthogonal test      weight matrix method     
Received: 15 June 2022      Published: 02 December 2022
CLC:  U 455.3  
Fund:  国家重点研发计划资助项目(2018YFB1306700)；中南大学研究生自主探索创新资助项目(2022ZZTS0814)
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Yi-min XIA
Yu-hang LANG
Zhi-yong JI
Yong REN
Cite this article:

Yi-min XIA,Yu-hang LANG,Zhi-yong JI,Yong REN. Βearing performance of integrated cutter holder structure suitable for robot cutter change. Journal of ZheJiang University (Engineering Science), 2023, 57(2): 392-403.

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https://www.zjujournals.com/eng/10.3785/j.issn.1008-973X.2023.02.018     OR     https://www.zjujournals.com/eng/Y2023/V57/I2/392


适用于机器换刀的一体式刀座结构的承载性能

为了提高一体式刀座系统的承载性能，采用数值模拟与试验研究相结合的方法，对一体式刀座系统受载状态进行分析. 结合滚刀的自动拆装过程，研究一体式刀座系统各结构参数间的联动关系及不同结构参数对其承载性能的影响. 基于正交试验权矩阵分析法，对显著影响一体式刀座系统承载性能的结构参数进行优化. 结果表明，正交试验各因素对一体式刀座系统承载性能的影响程度从大到小依次为：转动块颈部圆角半径、转动块宽度、刀轴与转动块转轴竖直距离. 得到一体式刀座系统综合性能最优方案为：转动块宽度107.5 mm，转动块颈部圆角半径60.0 mm，刀轴与转动块转轴竖直距离97.5 mm. 优化方案较原始方案整体最大变形降低了11.31%，端盖最大应力降低了34.07%，转动块最大应力降低了41.01%.


关键词： 机器换刀,  一体式刀座,  承载性能,  正交试验,  权矩阵分析法 
Fig.1 Structure of cutter holder system
Fig.2 Boundary conditions of cutter holder system
Fig.3 Scaled cutter holder system model
Fig.4 Strain gauge sticking and measuring point location
Fig.5 Static pressure experiment of cutter holder system
Fig.6 Stress comparison of measuring points
Fig.7 Numerical simulation results of cutter holder system
Fig.8 Part stress nephogram
Fig.9 Path stress of parts
Fig.10 Main matching structural parameters of parts
Fig.11 Diagram of locking state and retracting state
Fig.12 Diagram of parameter location
参数名称 符号 水平
1 2 3 4 5
1)注：括号内的值为原始模型初始值
转动块轴间距/mm P1 155.0 160.0 (165.0)1) 170.0 175.0
转动块偏转角/(°) P2 30.4 32.4 (34.4) 36.4 38.4
转动块长度/mm P3 125.0 135.0 (145.0) 155.0 165.0
转动块头部厚度/mm P4 30.0 35.0 (40.0) 45.0 50.0
转动块槽宽/mm P5 20.0 25.0 (30.0) 35.0 40.0
转动块宽度/mm P6 102.50 103.75 (105.00) 106.25 107.50
转动块底部
圆角半径/mm 		P7 10.0 15.0 20.0 (25.0) 30.0
转动块颈部
圆角半径/mm 		P8 (20.0) 30.0 40.0 50.0 60.0
刀轴与转动块转轴
竖直距离/mm 		P9 97.5 (107.5) 117.5 127.5 137.5
刀箱高度/mm P10 315.0 325.0 (335.0) 345.0 355.0
Tab.1 Parameter level table of cutter holder system
Fig.13 Relative standard deviation analysis of cutter holder system parameters
Fig.14 Comprehensive influence degree of cutter holder system parameters
试验号 因素 试验结果
A B C m/kg smax/mm σ1/MPa σ2/MPa
1 1(102.50) 1(20.0) 1(97.5) 304.09 0.083 5 155.75 214.09
2 1 2(30.0) 2(107.5) 307.39 0.083 1 153.60 167.22
3 1 3(40.0) 3(117.5) 310.68 0.084 2 135.27 134.05
4 1 4(50.0) 4(127.5) 313.97 0.086 2 105.58 140.04
5 1 5(60.0) 5(137.5) 317.24 0.088 9 93.78 107.61
6 2(103.75) 1 2 307.63 0.084 3 148.78 215.16
7 2 2 3 310.93 0.084 2 131.23 159.58
8 2 3 4 314.24 0.085 5 96.11 126.65
9 2 4 5 317.53 0.087 9 97.91 115.98
10 2 5 1 305.42 0.076 0 91.73 108.50
11 3(105.00) 1 3 311.17 0.085 3 203.58 201.00
12 3 2 4 314.48 0.085 9 109.39 153.94
13 3 3 5 317.79 0.087 4 95.44 128.33
14 3 4 1 305.70 0.075 2 92.70 110.01
15 3 5 2 308.98 0.076 9 90.45 111.09
16 4(106.25) 1 4 314.72 0.086 5 136.96 192.04
17 4 2 5 318.04 0.087 2 98.69 152.46
18 4 3 1 305.96 0.074 9 94.97 123.98
19 4 4 2 309.26 0.076 2 90.70 108.32
20 4 5 3 312.54 0.078 3 88.01 108.10
21 5(107.50) 1 5 318.28 0.088 3 109.97 200.57
22 5 2 1 306.21 0.075 2 110.75 140.04
23 5 3 2 309.53 0.076 1 92.31 120.91
24 5 4 3 312.83 0.078 0 89.73 109.20
25 5 5 4 316.11 0.080 2 93.13 114.15
Tab.2 Orthogonal test scheme and numerical simulation results　　　　　　
指标 kij
i=A i=B i=C
m/kg j=1 310.67 311.18 305.48
j=2 311.15 311.41 308.56
j=3 311.62 311.64 311.63
j=4 312.11 311.86 314.70
j=5 312.59 312.06 317.77
Ri 1.92 0.88 12.30
smax/mm j=1 0.085 2 0.085 6 0.076 9
j=2 0.083 6 0.083 1 0.079 3
j=3 0.082 2 0.081 6 0.082 0
j=4 0.080 6 0.080 7 0.084 9
j=5 0.079 5 0.080 1 0.088 0
Ri 0.005 7 0.005 5 0.011 0
σ1/MPa j=1 128.80 151.01 109.18
j=2 113.15 120.73 115.17
j=3 118.31 102.82 129.56
j=4 101.87 95.32 108.23
j=5 99.18 91.42 99.16
Ri 29.62 59.59 30.41
σ2/MPa j=1 152.60 204.57 139.32
j=2 145.17 154.65 144.54
j=3 140.87 126.78 142.39
j=4 136.98 116.71 145.36
j=5 136.97 109.89 140.99
Ri 15.63 94.68 6.04
Tab.3 Range analysis results of orthogonal test
水平 ω
A B C
1 3.56 5.97 8.36
2 3.77 7.32 8.17
3 3.75 8.52 7.91
4 3.98 9.11 7.99
5 4.04 9.54 8.00
Tab.4 Results of weight matrix analysis
Fig.15 Structural comparison before and after cutter holder system optimization
Fig.16 Comparison of path stress before and after cutter holder system optimization
方案 m/kg smax/mm σ1/MPa σ2/MPa
原始方案 308.22 0.081 9 140.46 203.11
优化方案 306.88 0.072 6 92.61 119.82
Tab.5 Comparison of index values before and after cutter holder system optimization
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