Design And Analysis Of Shield Machine Modular Tool Changing Robot

The title of this project is "Design and Analysis of the Shield Machine Modular Tool Changing Robot".The main topics of the basis and background according to the company existing more commonly used in slurry balance shield machine to design a tool changing robot in place of artificial replacement.With the rise of domestic tunnel construction work,shield construction has been widely used.However,due to the complexity of the domestic strata,cutter blade wear and other effects,the shield machine tool have different degrees of wear and tear,so to construction operations,the impact of tunneling speed.So need to replace the shield machine tool.Traditional tool replacement safety hazard,for the tool change workers physical quality requirements are high.If the design and manufacture of a tool to replace the replacement tool for the robot,the shield tunnel excavation operation will be a great help.The traditional way of tool change has the disadvantages of high cost,long cycle and low safety.Nowadays,foreign researchers have begun to study the design of tool changing robot.Now we are familiar with the traditional tool changing and tool changing process.It is very helpful to design and analyze the tool-change robot,and the tool-change robot designed will also bring great help to the tunnel development.In this paper,through a large number of literature survey,familiar with and understand the basic structure and working environment of the shield machine,especially the slurry balance shield machine.Through the continuous communication with the Northern Heavy Industries(NHI)technical personnel,in the shield machine air pressure cabin set placed for the tool changing robot.Without changing the original structure of shield machine based on,the cabin pressure design utilization,using a modular change tool design philosophy,by using the auxiliary guide rail support,automatic connection of modular liquid electrical,modular expansion and rotation technique.At the same time,according to the artificial tool changing method,the process of changing the cutter is simulated,and the analysis of the shield machine is finished.Then,the design of the telescopic rotation module,the design of the auxiliary guide rail,the design of the manipulator and the analysis of the manipulator assembly are completed by analyzing the scheme of the modular tool changing robot.The optimization design of the manipulator is carried out.The kinematic analysis of the manipulator is carried out,the static strength analysis of the manipulator and the important parts is carried out,and finally the structural design and analysis of the shield machine are completed.