Research and Design of Multi-degree-of-freedom Simulation Platform for Actual Shield Machine Tool Changing Posture

With the development of society, the shield tunneling method has gained wide application due to its numerous advantages. Shield machine, as the most important equipment for shield tunneling method construction, requires frequent tool change operations during the construction process. Currently, the tool change operations are mainly implemented manually, resulting in low efficiency, high risk, and high cost. Therefore, there is an increasingly strong demand for the application of robot tool change, and research has been conducted at home and abroad. However,due to the complexity of the underground environment and the high cost of shield tunneling machines themselves, the tool changing robot needs to spend a lot of time on simulation and verification before it can be used in actual operations. In order to enable the tool changing robot to truly simulate and verify the underground tool changing process, this article designs a multi-degree-of-freedom tool attitude simulation platform based on the parameters of mainstream shield tunneling machines. Servo motors are used for driving, and the positioning requirements are ensured through reducer, high-precision rotation platform and screw rod connection. At the same time, through load calculation, the selection of the main components is confirmed. Finally, through the use of physical objects combined with the tool changing robot, it is also proved that the design meets the requirements, providing great convenience for the verification and simulation of the tool changing robot.