自锁状态下钳剪抓一体属具接触性能研究

doi:10.3969/j.issn.1004-132X.2025.09.024

摘要/Abstract

摘要：

为了提高钳剪抓一体多功能属具中功能转换机构自锁性能的可靠性，研究了该机构在自锁状态下的接触性能，并基于测试条件设计了该机构的原始样机和测试样机，然后进行了测试研究。设计了功能转换机构的样机，提出了一种基于滑块-滑槽的自锁机构。在充分考虑样机自锁状态下的弹性变形、黏着、堆叠变形及滑动剪切的接触状态后，提出了新的接触模型。在此基础上，通过有限元分析研究了滑块-滑槽在接触区域的自锁状态和接触特性分布规律。设计了试验以验证模型及设计的可行性。结果表明，样机能够实现自锁且展现出良好的受力特性，另外，所提接触模型的最大剪切应力相对误差比传统模型低59.3%。

关键词: 多功能属具, 自锁条件, 受力特性, 接触特性

Abstract:

To improve the reliability of self-locked performances of the function transformation mechanisms in multi-functional clamp-shear-grab integrated attachment， the contact performance of the mechanisms under self-locked states was studied， and original prototype and test prototype of the mechanisms were designed based on test conditions， and then tests were conducted. Initially， the prototypes of function transformation mechanisms were developed， and a self-locked mechanism was proposed based on slider-groove structure. By thoroughly considering the elastic deformations， adhesions， pileup deformations， and sliding shear contact states under self-locked states， an innovative contact model was proposed. Based on these， the self-locked states and contact characteristic distributions of slider-groove in contact areas were studied through finite element analyses. Finally， experiments were designed to verify the feasibility of the model and design. Experimental results show that the prototype may achieve self-locked function and exhibits good mechanics performance， and the proposed contact model outperforms traditional model by 59.3% in terms of maximum shear stress relative error.

Key words: multi-functional attachment, self-locked condition, mechanics property, contact property

中图分类号:

TH128

王旭东, 赵京. 自锁状态下钳剪抓一体属具接触性能研究[J]. 中国机械工程, 2025, 36(9): 2117-2125.

Xudong WANG, Jing ZHAO. Research on Contact Properties of Clamp-Shear-Grab Integrated Attachments under Self-locked States[J]. China Mechanical Engineering, 2025, 36(9): 2117-2125.

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链接本文: https://www.cmemo.org.cn/CN/10.3969/j.issn.1004-132X.2025.09.024

https://www.cmemo.org.cn/CN/Y2025/V36/I9/2117

图/表 20

图1 功能转换机构原始样机

Fig.1 Original prototype of function transformation mechanism

图2 功能转换机构测试样机

Fig.2 Test prototype of function transformation mechanism

表1 原始样机和测试样机参数

Tab.1 Parameters of original prototype and test prototype

参数	原始样机	测试样机	缩尺比例
长度l/mm	1	0.9	0.9
密度ρ/（g·cm^-3）	7.8	2.8	0.36
泊松比ν	0.3	0.33	1.1
弹性模量E/GPa	200	70	0.35
力F/N	30 000	8000	0.27
重力加速度g/（m·s^-2）	10	10	1
力矩M/（N·m）	30 000	7200	0.24
应力σ/MPa	761.28	258.97	0.34
应变ε	0.007 01	0.006 53	0.93

图3 原始样机与测试样机（关键位置）应力应变对比

Fig.3 Comparison of stress and strain between original prototype and test prototype （key position）

图4 自锁原理

Fig.4 Self-locked principle

图5 测试样机受力示意图

Fig.5 Mechanical diagram of test prototype

图6 滑块-平面接触界面

Fig.6 Slider-plane contact interface

图7 改进模型原理

Fig.7 Principle of the modified model

图8 3Cr13仿真分析

Fig.8 3Cr13 simulation analysis

图9 QSn6.5-0.1仿真分析

Fig.9 QSn6.5-0.1 simulation analysis

图10 6061仿真分析

Fig.10 6061 simulation analysis

表2 接触状态对比

Tab.2 Comparison of contact states

模型	接触状态
传统模型	自锁
改进模型	黏着、滑动剪切、自锁
仿真模型	黏着、滑动剪切、自锁

表3 应力对比

Tab.3 Stress comparison

材料	参数	传统模型/MPa	改进模型/MPa	仿真模型/MPa	Δ₁/%	Δ₂/%
3Cr13	$p m a x$	907.0	906.8	897.5	1.1	1.0
	$σ$	915.4	979.5	1094.6	16.4	10.5
	$τ m a x$	87.8	266.8	302.3	71.0	11.7
QSn6.5-0.1	$p m a x$	827.4	827.3	823.0	5.3	5.2
	$σ$	835.1	901.7	910.0	8.2	0.9
	$τ m a x$	80.1	259.1	277.1	71.1	6.5
6061	$p m a x$	738.7	738.6	758.2	2.6	2.6
	$σ$	745.5	815.5	827.0	9.9	1.4
	$τ m a x$	71.5	250.5	259.0	72.4	3.3

表3 应力对比

Tab.3 Stress comparison

材料	参数	传统模型/MPa	改进模型/MPa	仿真模型/MPa	Δ₁/%	Δ₂/%
3Cr13	$p m a x$	907.0	906.8	897.5	1.1	1.0
	$σ$	915.4	979.5	1094.6	16.4	10.5
	$τ m a x$	87.8	266.8	302.3	71.0	11.7
QSn6.5-0.1	$p m a x$	827.4	827.3	823.0	5.3	5.2
	$σ$	835.1	901.7	910.0	8.2	0.9
	$τ m a x$	80.1	259.1	277.1	71.1	6.5
6061	$p m a x$	738.7	738.6	758.2	2.6	2.6
	$σ$	745.5	815.5	827.0	9.9	1.4
	$τ m a x$	71.5	250.5	259.0	72.4	3.3

图11 试验装置

Fig.11 Test equipment

表4 滑块材料参数

Tab.4 Material parameters of slider

材料	$E$ /GPa	$μ$	$ρ$ /（g·cm^-3）	$ν$
3Cr13	219	0.30	7.76	0.30
QSn6.5-0.1	117	0.20	8.65	0.34
6061	70	0.13	2.70g/cm³	0.33

表4 滑块材料参数

Tab.4 Material parameters of slider

材料	$E$ /GPa	$μ$	$ρ$ /（g·cm^-3）	$ν$
3Cr13	219	0.30	7.76	0.30
QSn6.5-0.1	117	0.20	8.65	0.34
6061	70	0.13	2.70g/cm³	0.33

图12 自锁试验

Fig.12 Self-locked test

图13 应变变化情况

Fig.13 Strain changing situation

表5 最小主应力对比

Tab.5 Minimum principal stress comparison

材料

仿真模型测点

应力/MPa

测试试验测点

应力/MPa

误差/%

3Cr13

-

31.6

-

35.0

9.7

QSn6.5-0.1

-

29.4

-

27.0

8.9

6061

-

17.7

-

15.3

15.7

表5 最小主应力对比

Tab.5 Minimum principal stress comparison

材料

仿真模型测点

应力/MPa

测试试验测点

应力/MPa

误差/%

3Cr13

-

31.6

-

35.0

9.7

QSn6.5-0.1

-

29.4

-

27.0

8.9

6061

-

17.7

-

15.3

15.7

表6 工程化测试结果

Tab.6 Engineering testing results

试验内容	试验情况
开合试验	无干涉完成10次开合
抱抓试验	抱抓150kg重物移动5 m
剪切试验	剪断直径为10mm的钢筋
钳碎试验	钳碎横截面120mm×120mm的水泥柱

图14 工程化测试

Fig.14 Engineering test

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