关键词: 盾构, 刀座, 换刀作业, 机器人

Abstract: There are many problems in traditional cutter replacement of shield, such as complex replacing action and slow disassemble and assemble of cutters by robot. Accordingly, a connecting rod locking cutter fastening mechanism is designed to realize rapid disassembly and assembly of the disc cutter by robot. The stress characteristics of the traditional clamping cutter fastening method are analyzed, and the linkage transmission chain and structural size are comprehensively designed to develop a connecting rod locking cutter fastening structure. The finite element technology and contact theory are used to establish a mechanical model of cutter holder fastening, and the influence of cutter holder design parameters on the structural performance and fastening performance of cutter holder is studied. Through the ANSYS Workbench platform, the stress distribution and deformation of the cutter holder under tunneling condition are analyzed to verify the reliability of the static strength of the new cutter holder. The analytical results show that the new cutter holder can realize the rapid disassembly and assembly of the cutter under the onetime pose adjustment of the robot and meet the mechanical performance requirements of the cutter holder system during shield tunneling.

Key words: shield, cutter holder, cutter changing operation, robot