Design and Analysis of Cutter Changing Robot for Large Diameter Shield Tunneling Machine

摘要

In response to the challenges faced by tunnel boring machines (TBMs) during construction, such as harsh operating environments, high cutter consumption, and labor-intensive operations, this paper proposes an automated cutter changing solution based on robotic operation. Firstly, addressing the issues of complexity and numerous components in traditional tool systems, a unified tool structure scheme suitable for robotic operation is designed. Subsequently, an analysis is conducted on the operation mode and working environment of the cutter changing robot, proposing a structural design scheme for a nine-degree-of-freedom cutter changing robot. Furthermore, the robot is divided into four parts, with each part undergoing comprehensive design to form a complete robot structure. Finally, simulation analysis of the cutter changing robot’s performance is conducted, including finite element analysis, kinematic analysis, trajectory planning, and dynamic analysis. The results indicate that the overall stiffness of the cutter-changing robot meets the design requirements, and the workspace can cover all target cutters, with no occurrences of rigid or flexible impact phenomena during motion.