CN108393864B - TBM tool changing robot body structure - Google Patents

Abstract

The invention provides a body structure of a TBM tool changing robot, which belongs to the technical field of robot structure design. Aiming at the structural characteristics of the current TBM host, the present invention designs a robot body structure form that enables the end effector to enter the cutter head from the TBM cutter hole. The difficulty of working in space is given, and the design method of the key dimensions of the manipulator of the body structure and the motion form of the robot are given, so as to realize the overall design and path planning of the body structure of the tool changing robot.

Description

Body structure of a TBM tool changing robot

technical field

The invention relates to a body structure of a TBM knife robot, belonging to the technical field of robot structure design.

Background technique

With the development of my country's economy, in recent years, full-face rock boring machines (TBM) have been widely used in tunnel construction such as water conservancy projects, railway transportation, subway projects, oil and gas pipelines and national defense.

It can be seen from the working principle of TBM that the wear of the tool itself is inevitable when the tool is cutting the rock mass. And wear will directly change the geometric characteristics of the tool, weaken the cutting ability of the tool, and increase the energy consumption of tunneling. If the tool fails due to excessive wear and cannot be replaced in time, it will cause the wear of the cutter head, which will seriously affect the progress and quality of the construction. Moreover, due to the strong impact and strong vibration of the tool, the tool ring will also break and other faults. According to statistics, the cost of tool consumption accounts for about one-quarter to one-fifth of the project cost, and when the geological conditions are not good, it is as high as about one-third. one third. Therefore, improving the efficiency of tool change is one of the ways to reduce engineering costs. More importantly, limited by the complex and harsh underground construction environment where the TBM is located, manual replacement of the TBM tool has huge potential safety hazards such as collapse of surrounding rock, falling, and high pressure damage of the mud-water shield. Based on the above situation, the development of a special equipment to replace manual tool change is of great significance to improve the efficiency of TBM tool change and reduce the safety threat of the environment and equipment to construction workers.

Aiming at the structural characteristics of the current TBM host, the present invention designs a robot body structure form that enables the end effector to enter the cutter head from the TBM cutter hole. The difficulty of working in space is given, and the design method of the key dimensions of the manipulator of the body structure and the motion form of the robot are given, so as to realize the overall design and path planning of the body structure of the robot.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a structural solution to replace the manual tool changing equipment. By using the structural form and motion solution of this mechanical arm, the tool that needs to be replaced by the TBM can be transported from the vertical narrow space to the tool transporting tool located in the horizontal narrow space. hole. Thus, the safety risk of manual tool change is reduced, the efficiency of tool change is improved, and the labor cost of the project is reduced.

The technical scheme adopted in the present invention:

A TBM knife robot structure, comprising a support beam 1, a sliding seat 2, an upper and lower steering seat 3, a left and right steering seat 4, a telescopic arm 5 and a standard mounting seat 6 for an end effector;

The support beam 1 is used to carry the weight of the robot body, the end effector and the external load. The sliding seat 2 is the decisive part to determine the working position of the robot. It is connected with the support beam 1 through a moving pair. Determines whether the end of the robot can enter the cutter head;

The telescopic arm 5 is the receiver of the movement of the end effector, and is connected to the left and right steering seats 4 through the moving pair. The left and right steering seats 4 are used to adjust the angle of the telescopic arm on the cutter disc surface to adapt to the randomness of the cutter disc stopping; the end effector The standard mounting seat 6 is arranged on the telescopic arm 5 through the moving pair, and is used to install the end effector of the detachable tool;

The upper and lower steering seats 3 are respectively connected with the sliding seat 2 and the left and right steering seats 4 through the rotating pair, which are used to adjust the up and down direction of the telescopic arm 5 to ensure that the telescopic arm 5 enters the inside of the cutter head with a proper attitude, and avoids the cutter head. , adjust the telescopic arm 5 to the vertical direction.

The length L1 of the support beam 1 is the stroke of the sliding seat 2. In order to complete the knife operation, L1 should be greater than the distance H from the knife hole to the knife disc surface, that is,

L1=H+Δh1

Among them, Δh1=500～700mm.

The length L5 of the telescopic arm 5 determines whether it can enter the inside of the cutter head. In order to reach the positions of all cutters on the radius, L5 should satisfy:

Among them, Δh2=100～300mm, D1 is the inner space diameter of the cutter head;

In order for the telescopic arm 5 to enter the cutter head, L5 also satisfies:

为伸缩臂下端轨迹最大包络圆直径，

为伸缩臂上端轨迹最大包络圆直径；in,

is the maximum envelope circle diameter of the trajectory of the lower end of the telescopic boom,

is the maximum envelope circle diameter of the trajectory of the upper end of the telescopic boom;

The telescopic arm 5 can be designed as a multi-stage telescopic movable structure.

The beneficial effects of the invention are as follows: adapting to the characteristics of the horizontal and long space in the front section of the main beam, the length direction of the robot's stop state and the transition state of dismantling and moving the tool should be along the horizontal direction; at the same time, the end effector should be The workspace should be vertical. Therefore, the present invention designs a TBM tool changing robot body structure scheme by combining the advantages of the rotating pair and the moving pair. into the cutter head.

The body structure of the tool changing robot is composed of six parts, with a total of five joints, belonging to the category of five-degree-of-freedom robots, and the body structure does not consider the tool changing action, and is only responsible for the function of reaching the predetermined position. The action of disassembling and assembling the TBM tool is determined by the corresponding The end effector is responsible. Since the revolution speed of the hob of TBM is perpendicular to the radial direction, the end effector does not need to rotate, so the number of degrees of freedom of the robot body can be reduced, that is, five degrees of freedom can complete the required functions.

Description of drawings

Figure 1 shows the overall structure of the TBM tool changing robot.

Figure 2 is a schematic diagram of the robot workspace.

Figure 3 is a state diagram of the robot body before entering the cutter head.

Figure 4 is a state diagram of the robot body when the robot is dismantling the tool.

Fig. 5(a), Fig. 5(b), Fig. 5(c) are respectively the state diagrams of the body of the robot adjusting different angles when the robot is dismantling the knife.

FIG. 6 is a state diagram of the body of the robot tool being transported to the tool-carrying hole.

In the picture: 1 supporting beam; 2 sliding seat; 3 up and down steering seat; 4 left and right steering seat; 5 telescopic arm;

6 Standard mounting seat of end effector; D1 inner space diameter of cutter head; D2 inner diameter of main bearing;

D3 main beam height; L1 robot support beam length; L5 robot telescopic arm length;

The thickness of the inner space of T cutter head; p1 upper limit point of main beam height; p2 lower limit point of main beam height;

伸缩臂下端轨迹最大包络圆直径；

伸缩臂上端轨迹最大包络圆直径；

The maximum envelope circle diameter of the trajectory of the lower end of the telescopic arm;

The maximum envelope circle diameter of the upper end trajectory of the telescopic arm;

The area formed by the double-dotted line is the constrained space inside the TBM host that the robot is subjected to.

Detailed ways

The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings and technical solutions.

A tool changing robot body structure that can enter the cutter head from the main beam of the TBM.

内，然后以p2为圆心顺时针旋转伸缩臂，使伸缩臂进入说明书附图4，该状态就是机器人的工作状态，此时末端执行器就可以更换刀具了。如果刀具不在竖直方向，动作左右转向座4，调整伸缩臂在刀盘面的转向，如说明书附图5；(3)当拆刀结束后，进入运刀程序，运刀程序是伸缩臂进入刀盘的反过程，将伸缩臂调整到说明书附图6的状态，动作末端执行器，将刀具运出运刀孔。(1) When the robot is not working, the state of each part of the robot is as shown in Figure 1 of the manual, and the telescopic arm 5 is in a horizontal position; (2) When the TBM stops, the robot enters the tool change program, and the sliding seat 2 and the upper and lower steering seat 3 are linked together. Adjust the telescopic arm to the state shown in Figure 3 of the manual, and make the lower end of the telescopic arm close to the lower limit point p2 of the height of the main girder, then, keep this posture, put the telescopic arm deep into the cutter head, and make the telescopic arm enter the maximum envelope circle of the trajectory

Then rotate the telescopic arm clockwise with p2 as the center of the circle, so that the telescopic arm enters the Figure 4 in the manual. This state is the working state of the robot, and the end effector can replace the tool at this time. If the tool is not in the vertical direction, move the left and right steering seats 4 to adjust the steering of the telescopic arm on the cutter disc surface, as shown in Figure 5 in the manual; (3) When the tool removal is completed, enter the tool movement program. The tool movement program is that the telescopic arm enters the tool In the reverse process of the disc, adjust the telescopic arm to the state shown in Figure 6 of the manual, actuate the end effector, and transport the tool out of the tool hole.

The above (1) (2) (3) is a set of tool changing process. If you need to replace other tools, you can repeat the above steps.

Claims (4)

1. A TBM tool-changing robot body structure is characterized by comprising a supporting beam (1), a sliding seat (2), an upper steering seat, a lower steering seat (3), a left steering seat, a right steering seat (4), a telescopic arm (5) and an end effector standard mounting seat (6);

the supporting beam (1) is used for bearing the weight of other parts, an end effector and an external load of the robot body, the sliding seat (2) is a decisive part for determining the working position of the robot and is connected with the supporting beam (1) through a moving pair, and the accuracy and the moving path of the moving pair directly determine whether the tail end of the robot can enter the cutter head or not;

the telescopic arm (5) is a receiver of the movement of the end effector, is connected with the left and right steering seats (4) through a sliding pair, and the left and right steering seats (4) are used for adjusting the rotation angle of the telescopic arm on the cutter disc surface so as to adapt to the randomness of the cutter disc stalling; the standard mounting seat (6) of the end effector is arranged on the telescopic arm (5) through a sliding pair and is used for mounting the end effector of the detachable cutter;

the upper and lower steering seats (3) are respectively connected with the sliding seat (2) and the left and right steering seats (4) through revolute pairs and used for adjusting the upper and lower directions of the telescopic arm (5), ensuring that the telescopic arm (5) enters the cutter head in a proper posture, and adjusting the telescopic arm (5) to be in a vertical direction under the condition of avoiding the cutter head.

2. The TBM tool-changing robot body structure according to claim 1, wherein the length L1 of the supporting beam (1) is the stroke of the sliding seat (2), and L1 is larger than the distance H from a tool carrying hole to a tool disc surface for carrying out tool carrying, namely

L1＝H+Δh1

Wherein, Delta h1 is 500-700 mm.

3. The TBM tool-changing robot body structure according to claim 1 or 2, characterized in that the length L5 of the telescopic arm (5) determines whether the telescopic arm can enter the inside of a cutter head, and L5 satisfies the following conditions for reaching the positions of all cutters on the radius:

wherein, Δ h2 is 100-300 mm, and D1 is the diameter of the inner space of the cutter head;

in order to enable the telescopic arm (5) to enter the cutter head, L5 also satisfies:

wherein,

the maximum diameter of the enveloping circle of the orbit at the lower end of the telescopic arm,

the diameter of the maximum enveloping circle of the upper end track of the telescopic arm.

4. The TBM tool-changing robot body structure according to claim 3, characterized in that the telescopic arm (5) is designed as a multi-stage telescopic movable structure.

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