Study On Tool Transporting Devive Based On The Intelligent Cutter Changing System Of Shield Machine

With the progress of social development,urban transportation is gradually developing in the direction of underground construction such as underground rails and submarine tunnels.As a special machine for underground tunneling construction,shield machine is used more and more frequently,and the problem of cutter replacement of shield machine becomes increasingly prominent.Therefore,it is very urgent to try to use mechanical equipment instead of traditional artificial safe and efficient intelligent cutter replacement of shield machine.The main research work of this paper is as follows:(1)This paper takes 6.28 m shield machine as the object of tool change operation,and summarizes the problems and difficulties of intelligent tool change based on the existing theory and experience at home and abroad.Based on this,this paper improves on the original hob installation method,and mainly proposes a design scheme of a knife transport device based on a redundant degree of freedom robot arm.The intelligent tool change task of shield machine is realized,and the feasibility is verified theoretically according to the tool change process.(2)Through the research and analysis of the working state of the round hob,the original cumbersome round hob installation structure is improved to reduce the difficulty of the end effector operation and increase the efficiency of intelligent operation,and the rationality of the structure is proved by theoretical analysis.According to the target's spatial task index,the joint length,structure selection,overall freedom,driving mode determination and material selection of the robot arm of the knife transport device are designed in detail.The device is modeled by SolidWorks 3D software,and the joint drive is calculated according to the load weight and its own mass to ensure feasibility.(3)Based on CAE software such as ANSYS and ADAMS,the static,modal and dynamic simulation of the tool transport device were carried out,and the strength and rigidity of the main components were checked.The rationality of the structural design and the material selection of the mechanical arm were verified,and the naturalfrequency of the tool transport device under the limit state and the stress and deformation of the tool transport device at the corresponding frequency were obtained.The vector curves of velocity,acceleration,moment and force of each moving joint of the tool conveying device are obtained by rigid body dynamics,and the accuracy of design was analyzed by combining theory.(4)According to the principle,the kinematics mathematical model of the tool conveying device was established,the coordinate system was established by the D-H method,and the kinematics of the end actuator was solved by the forward kinematics.Based on MATLAB / Robotics toolbox,the mechanical arm model of tool conveying device is established,and the correctness of kinematic equation is verified by comparison.Based on the Monte Carlo method and the rand function of MATLAB,the working space of the manipulator of the tool conveying device was simulated and verified,and the point cloud diagram was obtained to verify that the tool conveying device met the requirements of space operation.