Design And Analysis Of Automatic Tool Changer For Shield Machine

Along with the rapid development of China’s economy,accelerating the process of city,in order to adapt to the pace of development,the city will continue to increase the size of the current increase in the most direct way to city scale and function is appropriate to the development and use of underground space,therefore,in the city built in the construction of shield machine is becoming more and more common.However,during the construction process of the shield machine,due to the geological reasons,the force condition of the cutter head is very complicated,which causes serious wear of the cutter of the shield machine and requires frequent tool changes.The current shield machine tool change is manual tool change,there is a huge cost,long cycle,low efficiency and high risk of shortcomings.Therefore,try to develop a shield machine automatic tool changer instead of manual tool change operations,in order to achieve safe and efficient tool change process.In this paper,the design and analysis of the automatic tool changer of shield machine are carried out:(1)Access to relevant literature,understand the structure,working principle,manual tool change of shield machine and the existing risk,points out the necessity of the design of automatic tool change device of shield machine as well as the difficulties;on this basis,establish the three-dimensional model of automatic tool changing module,and the module of function introduction at the same time,the structure of automatic tool changer in check.(2)For automatic tool changer for strength analysis,each part of the automatic tool changer to verify the strength and stiffness of compliance requirements,further,in order to accurately obtain the overall deformation of the ATC,the bolt connection considering the analysis of automatic tool changer;modal analysis,determination automatic tool changer of the first six order natural frequency and vibration mode,avoid the resonance structure.(3)Using D-H method to establish the parameters of the ATC link coordinate system,and the method to solve the forward kinematics;Monte Carlo method and robot toolbox combined to solve the automatic tool changing device working space;respectively with three polynomial interpolation and five polynomial interpolation method of automatic tool changing device the trajectory planning,and calculate the trajectory function.(4)Using ADAMS software to animate the movement process of the automatic tool changer,at the same time,the change of displacement,velocity and acceleration with time is obtained,by comparing the two trajectory planning functions,the stability of the five polynomial programming is better,at the same time,the correctness of the simulation process is verified by robot toolbox.Finally,the conclusion is drawn that the trajectory planning is reasonable and can meet the requirements of tool change.The shield automatic machine tool changer designed in this paper can liberate people from heavy labor,meanwhile it can improve the efficiency of tool change and reduce the cost of tool change,so as to improve the work efficiency of the shield machine,and has certain practical value.