CN109531623A - A kind of disk cutter tool changing robot simulation testing stand and its application method - Google Patents
A kind of disk cutter tool changing robot simulation testing stand and its application method Download PDFInfo
- Publication number
- CN109531623A CN109531623A CN201811417747.1A CN201811417747A CN109531623A CN 109531623 A CN109531623 A CN 109531623A CN 201811417747 A CN201811417747 A CN 201811417747A CN 109531623 A CN109531623 A CN 109531623A
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- girff
- module
- tool changing
- changing robot
- mounting base
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Sampling And Sample Adjustment (AREA)
- Treatment Of Fiber Materials (AREA)
Abstract
The present invention relates to a kind of disk cutter tool changing robot simulation testing stand and its application methods, testing stand includes test sewing platform base, tool changing robot mounting base and girff module, wherein test sewing platform base includes mounting base area, tool changing robot and installation girff block region, and tool changing robot mounting base is installed in mounting base area, tool changing robot；Girff module is installed on installation girff block region；Method is the following steps are included: build testing stand according to test demand；Simulate the girff inclination set angle of convertible inclination angle girff module；Change in location is tightened by the strip tapped through hole on gusseted component, realizes girff block combiner entirety transverse shifting.The present invention modules is freely combined assembled, it can be more truly reflected actual condition, convenience is provided for Intelligent Optimal tool changing robot architecture and MECHANISM PRECISION reliability test, save experimentation cost, experiment effect is good, and building realization physical prototyping testing stand becomes simple and easy.
Description
Technical field
The present invention relates to a kind of disk cutter tool changing robot simulation testing stand and its application method, specially a kind of dish type
Hobboing cutter tool changing robot simulation testing stand and its application method.
Background technique
The research in shield machine Test-bed Design field is concentrated mainly on simulation test stand design and laboratory environment testing stand
Design two aspects.Simulation test stand is to carry out mechanical analysis experiment；Laboratory environment testing stand is usually to cooperate tool changing
The use of robot, has important practical significance.The railway and highway communication tunnel in China, gas transmission petroleum pipeline tunnel are built
If also having huge development space, shield machine replaces cutter robot or other auxiliary bodies during tunneling
Design starts to become hot issue.Disk cutter tool changing robot simulation's testing stand that design cooperation tool changing robot uses seems
It is very urgent.
Current disk cutter tool changing robot simulation's testing stand is typically all to be fixed on the position being previously set, can not
Realization is freely converted and is moved, and it is that the tool changing of practical application robot tries that the disk cutter girff position simulated in this way, which is fixed,
Testing makes troubles.
Current disk cutter tool changing robot simulation's testing stand be typically designed it is more complicated, generally only rest on design reason
By the stage, it is mainly used in analogue simulation, current following several respects of shield machine simulator stand the problems in the design:
(1) structure is complicated and realizes that function is limited: imitating since the shield machine simulator stand of design is mainly used for dynamics
True simulation, so restoring truth as far as possible, structure design is suitable with true shield machine size, is not appropriate for laboratory environment and adds
Work and build physical model；
(2) girff position is fixed: shield machine simulator stand relatively conventional at present generally uses fixed structure, builds
The change of girff position is difficult to after completing；
(3) realize that the cost that laboratory is built is high: the shield machine simulated experiment relatives of Taiwan compatriots living on the Mainland applied to simulation analysis occasion
It is designed in large scale structure, building physical model in laboratory environment will be costly.
Summary of the invention
Fixed structure is used for shield machine simulator stand in the prior art, completion is built and is difficult to change girff position later
The deficiencies of setting, the problem to be solved in the present invention is to provide one kind can not only save experimentation cost, additionally it is possible to realize shield machine disk
The simulation of shape hobboing cutter layout change on cutterhead preferably cooperates intelligent tool changing robot in a discharge plate of laboratory expansion test
Shape hobboing cutter tool changing robot simulation testing stand and its application method.
In order to solve the above technical problems, the technical solution adopted by the present invention is that:
A kind of disk cutter tool changing robot simulation's testing stand of the present invention, including test sewing platform base, the installation of tool changing robot
Seat and girff module, wherein test sewing platform base includes mounting base area, tool changing robot and installation girff block region, tool changing machine
People's mounting base is installed in mounting base area, tool changing robot；Girff module is installed on installation girff block region.
Tool changing robot mounting base includes tool changing robot mounting base bottom plate, tool changing robot mounting base matrix and tool changing
Robot mounting base flange disk, wherein tool changing robot mounting base matrix is installed on by tool changing robot mounting base bottom plate and is changed
In mounting base area, knife robot, tool changing robot mounting base matrix top is equipped with tool changing robot mounting base flange disk.
Girff module includes that a fixing cutter tank module, at least one fast demountable girff module and one are convertible
Inclination angle girff module, wherein fixing cutter tank module is fixedly installed on installation girff block region, convertible inclination angle girff mould
Block and fast demountable girff module are vertically installed on above fixing cutter tank module by any combination mode.
Fast demountable girff module is 1~3.
One fixing cutter tank module and each fast demountable girff module are all made of the girff structure of disposable disk cutter,
Bottom surface be equipped with connecting groove, upper bottom surface be equipped with connection boss, between fixing cutter tank module and fast demountable girff module or
It is entrenched togather between adjacent fast demountable girff module by connection boss and connecting groove, and passes through fastening Bian Erlian
It connects；Fixing cutter tank module is fixedly mounted on the installation girff block region of test sewing platform base by gusseted component.
Strip bolt hole is equipped on gusseted component.
Convertible inclination angle girff module includes fixed part and sloping portion, and hydraulic cylinder is wherein equipped with inside fixed part
Support shaft and the digital straight line hydraulic cylinder being installed in hydraulic cylinder support shaft；Sloping portion lower end surface side is equipped with axis hole boss,
The piston rod front end of digital straight line hydraulic cylinder and axis hole boss are rotatablely connected, on the sloping portion lower end surface other side and fixed part
Rim portion rotation connection.
Also there is anti-dropout baffle, positioning baffle and support component, wherein anti-dropout baffle is set to each layer of girff mould
Block open side edges corner, positioning baffle are set to the upper board edge of each layer girff module, and support component is connected to convertible inclination angle
The cabinet inboard corner of girff module fixed part.
A kind of application method of disk cutter tool changing robot simulation's testing stand of the present invention, comprising the following steps:
1) testing stand is built according to test demand；
2) girff for simulating convertible inclination angle girff module tilts set angle；
3) change in location is tightened by the strip tapped through hole on gusseted component, realizes that girff block combiner is whole
Transverse shifting.
Step 1) includes:
101) tool changing robot mounting base matrix is changed by tool changing robot mounting base bottom plate and test sewing platform base installation
The connection of mounting base area, knife robot；
102) the fixing cutter tank module of the bottom is connect with test sewing platform base installation girff block region, and passes through a triangle
Support component fastening；
103) convertible inclination angle girff module or fast demountable girff module are connected on fixing cutter tank module；
104) it requires to determine whether to continue at upper one layer to build fast demountable girff module further according to simulation test or can
It converts inclination angle girff module and builds completion until meeting test requirements document.
The invention has the following beneficial effects and advantage:
1. the present invention, can be more by the way that the modularized design of testing stand entirety is realized that modules independent assortment is assembled
It is truly reflected actual condition, provides convenience for Intelligent Optimal tool changing robot architecture and MECHANISM PRECISION reliability test, not only
Experimentation cost can be saved, additionally it is possible to complete better experiment effect, technology be built for simulation shield machine testing stand, ginseng is provided
Value is examined, realizing that physical prototyping testing stand is built becomes simple and easy.
2. simulator stand of the present invention is a kind of structural module structure for adapting to laboratory environment, overall structure is readily removable
Dress fast implements the testing stand of multiple operating positions variation of girff, wherein realization testing stand fast construction easy to assemble, is easy to remove
Fortune；Convertible inclination angle girff module is connect with fast demountable girff module various combination, realizes multiple disk cutter girffs
The simulation of operating position fast implements multiple operating positions variation of girff.
Detailed description of the invention
Fig. 1 is schematic structural view of the invention；
Fig. 2 is test sewing platform base schematic diagram of the invention；
Fig. 3 is tool changing robot mounting base schematic diagram of the invention；
Fig. 4 A is the fast demountable girff module diagram (one) of joint test sewing platform base of the present invention；
Fig. 4 B is the fast demountable girff module diagram (two) of joint test sewing platform base of the present invention；
Fig. 5 A is the fast demountable girff module diagram (one) at the intermediate position of the present invention；
Fig. 5 B is the fast demountable girff module diagram (two) at the intermediate position of the present invention；
Fig. 6 A is upper plate schematic diagram (one) in fast demountable girff module of the present invention；
Fig. 6 B is upper plate schematic diagram (two) in fast demountable girff module of the present invention；
Fig. 7 A is the convertible inclination angle girff module diagram (one) of the present invention；
Fig. 7 B is the convertible inclination angle girff module diagram (two) of the present invention；
Fig. 8 is gusseted component diagram of the present invention；
Fig. 9 is that the present invention places the test platform structure schematic diagram after disk cutter.
Wherein, 1 is test sewing platform base, and 2 be tool changing robot mounting base bottom plate, and 3 be tool changing robot mounting base, and 4 be to change
Knife robot mounting base flange disk, 5 be sloping portion, and 6 be the girff shaft of convertible inclination angle girff mould, and 7 be fixed part
Point, 8 be fast demountable girff module one, and 9 is fasten side ear, and 10 be fast demountable girff module two, and 11 be fixed girff
Module, 12 be axis hole boss, and 13 be digital straight line hydraulic cylinder, and 14 is connect hydraulic cylinder support shaft, and 15 be gusseted component, and 16 are
Anti-dropout baffle, 17 be fastening side ear, and 18 be gusseted component, and 19 install tool changing robot mounting base for test sewing platform base
Area, 20 install girff block region for test sewing platform base, and 21 be connection boss, and 22 be connecting groove, and 23 be fixed baffle.
Specific embodiment
The present invention is further elaborated with reference to the accompanying drawings of the specification.
As shown in Figure 1, 2, a kind of disk cutter tool changing robot simulation's testing stand of the present invention, including test sewing platform base 1, change
Knife robot mounting base and girff module, wherein test sewing platform base 1 includes mounting base area, tool changing robot 19 and installation girff
Block region 20, tool changing robot mounting base are installed in mounting base area, tool changing robot 19；Girff module is installed on installation girff
On block region 20.
Tool changing robot mounting base includes tool changing robot mounting base bottom plate 2,3 (such as Fig. 3 of tool changing robot mounting base matrix
It is shown) and tool changing robot mounting base flange disk 4, wherein tool changing robot mounting base matrix 3 is pacified by tool changing robot
Dress seat bottom plate 2 is installed in mounting base area, tool changing robot 19, and 3 top of tool changing robot mounting base matrix is equipped with tool changing robot
Mounting base flange disk 4.
Girff module can including a fixing cutter tank module 11, one or more fast demountable girff modules and one
Inclination angle girff module is converted, wherein fixing cutter tank module 11 is fixedly installed on installation girff block region 20, convertible inclination
Angle girff module 5 and fast demountable girff module are vertically installed on 11 top of fixing cutter tank module by any combination mode.
In the present embodiment, fast demountable girff module be 1~3, fast demountable girff module 1 with can quickly tear open
It is identical to fill 2 10 structure of girff module.
One fixing cutter tank module and each fast demountable girff module (as shown in Fig. 4 A, 4B) are all made of disposable dish type
The girff structure (as shown in Figure 9) of hobboing cutter, bottom surface are equipped with connecting groove 22 (as shown in Fig. 5 A, 5B, 6A, 6B), and upper bottom surface is set
Have connection boss 21, between fixing cutter tank module 11 and fast demountable girff module or adjacent fast demountable girff module it
Between by connection boss 21 and connecting groove 22 be entrenched togather, and by fastening side ear 9 connect；Fixing cutter tank module 11 passes through
Gusseted component 18 (as shown in Figure 8) is fixedly mounted on the installation girff block region 20 of test sewing platform base 1.
This implementation is equipped with strip bolt hole on gusseted component 18.
Convertible inclination angle girff module includes fixed part 7 and sloping portion 5 (as shown in Fig. 7 A, 7B), wherein fixing
The digital straight line hydraulic cylinder 13 for being equipped with hydraulic cylinder support shaft 14 inside part 7 and being installed in hydraulic cylinder support shaft；Sloping portion
Lower end surface side is equipped with axis hole boss 12, and the piston rod front end of digital straight line hydraulic cylinder 13 and axis hole boss 12 are rotatablely connected, incline
Inclined portion divides the lower end surface other side and fixed part upper limb edge to be rotatablely connected.
Each layer girff module also has anti-dropout baffle 16 and positioning baffle 23 in the present invention, and wherein anti-dropout baffle 16 is set
In each layer of girff module openings side corner, for preventing disk cutter from falling off from girff；Positioning baffle 23 is set to and each layer
The upper and lower end edges of boards edge of girff module, the quick positioning for different fast assembling-disassembling girff modules；Convertible inclination angle girff mould
Block also has support component 15, is connected to the cabinet inboard corner of convertible inclination angle girff module fixed part 7, guarantees variable
Change the firm of inclination angle girff module.
A kind of application method of disk cutter tool changing robot simulation's testing stand of the present invention, step are as follows:
1) testing stand is built according to test requirements document；
2) girff 5 for simulating convertible inclination angle girff module tilts set angle；
3) change in location is tightened by the strip tapped through hole on gusseted component 18, realizes that girff block combiner is whole
Body transverse shifting.
Step 1) includes:
101) tool changing robot mounting base matrix 3 is passed through into tool changing robot mounting base bottom plate 2 and test sewing platform base installation
Mounting base area, tool changing robot 19 connects；
102) the fixing cutter tank module of the bottom is connect with test sewing platform base installation girff block region 20, and passes through 4
Gusseted component 18 fastens；
103) convertible inclination angle girff module or fast demountable girff module are connected on fixing cutter tank module；
104) it requires to determine whether to continue at upper one layer to build fast demountable girff module further according to simulation test or can
It converts inclination angle girff module and builds completion until meeting test requirements document.
In the present embodiment, testing stand includes 11, two fast demountable girff modules i.e. first of a fixing cutter tank module
Fast demountable girff module and a convertible inclination angle girff module 5, first by tool changing robot mounting base 3 by changing
Knife robot mounting base bottom plate 2 is connect with test sewing platform base installation mounting base area, tool changing robot 19, joint test sewing platform base 1
Fast demountable girff module 11 with test sewing platform base installation girff block region 20 connect and with 4 gusseted components 18 tightly
Gu the second fast demountable girff module 10 is connected on fixing cutter tank module 11, in the second fast demountable girff module 10
The first fast demountable girff module 8 of upper connection, connects convertible inclination angle girff in the first fast demountable girff module 8
Module, testing stand build completion；
The elongation or shortening of the digital straight line hydraulic cylinder 13 in convertible inclination angle girff module, number are connected by control
Word linear hydraulic cylinder 13 pushes or tenses convertible inclination angle girff module axis hole boss structure 12, realizes uppermost variable
The girff 5 for changing inclination angle girff mould realizes rotation around the girff shaft 6 of convertible inclination angle girff mould, to realize that simulation is variable
The girff 5 for changing inclination angle girff mould tilts set angle；
It is provided with strip tapped through hole on gusseted component 18, position is tightened in strip tapped through hole by bolt
Girff block combiner entirety transverse shifting is realized in variation；
It is convertible to incline after the completion of fast demountable girff module 11 is connect with test sewing platform base installation girff block region 20
The fixed part 7 of oblique angle girff module is directly connect with the fast demountable girff module 11 on joint test sewing platform base 1, can
It converts and connects the second fast demountable girff module 10 on the sloping portion 5 of inclination angle girff module, in the second fast demountable
The first fast demountable girff module 8 is connected in girff module 10, is connected in convertible inclination angle girff module by control
Digital straight line hydraulic cylinder 13 realizes the fixed part 5 (girff) of convertible inclination angle girff module, the second fast demountable girff
Module 10 and the first fast demountable girff module 8 tilt a setting degree simultaneously.
After the completion of fast demountable girff module 11 is connect with test sewing platform base installation girff block region 20, can be quick
The second fast demountable girff module 10 is connected on detachable knife tank module 11, is connected in the second fast demountable girff module 10
Convertible inclination angle girff module connects the first fast demountable knife on the fixed part 5 of convertible inclination angle girff module
Tank module 8 connects the digital straight line hydraulic cylinder 13 in convertible inclination angle girff module by control and realizes convertible inclination angle
The fixed part 5 (girff) of girff module and the first fast demountable girff module 8 tilt set angle simultaneously.
The present invention is a kind of structural module of adaptation laboratory environment, overall structure is easy to assemble, fast implements girff
The testing stand of multiple operating position variations, has realization testing stand fast construction easy to assemble, the characteristic being easily portable.It is convertible to incline
Oblique angle girff module is connect with fast demountable girff module various combination, realizes multiple disk cutter girffs in cutter head of shield machine
On operating position change modeling.
Claims (10)
1. a kind of disk cutter tool changing robot simulation's testing stand, it is characterised in that: including test sewing platform base, tool changing robot peace
Seat and girff module are filled, wherein test sewing platform base includes mounting base area, tool changing robot and installation girff block region, tool changing machine
Device people's mounting base is installed in mounting base area, tool changing robot；Girff module is installed on installation girff block region.
2. disk cutter tool changing robot simulation's testing stand according to claim 1, it is characterised in that: tool changing robot peace
Filling seat includes tool changing robot mounting base bottom plate, tool changing robot mounting base matrix and tool changing robot mounting base flange circle
Disk, wherein tool changing robot mounting base matrix is installed on mounting base area, tool changing robot by tool changing robot mounting base bottom plate
On, tool changing robot mounting base matrix top is equipped with tool changing robot mounting base flange disk.
3. disk cutter tool changing robot simulation's testing stand according to claim 1, it is characterised in that: girff module includes
One fixing cutter tank module, at least one fast demountable girff module and a convertible inclination angle girff module, wherein
Fixing cutter tank module is fixedly installed on installation girff block region, convertible inclination angle girff module and fast demountable girff mould
Block is vertically installed on above fixing cutter tank module by any combination mode.
4. disk cutter tool changing robot simulation's testing stand according to claim 3, it is characterised in that: fast demountable knife
Tank module is 1~3.
5. disk cutter tool changing robot simulation's testing stand according to claim 1, it is characterised in that: a fixed girff
Module and each fast demountable girff module are all made of the girff structure of disposable disk cutter, and bottom surface is equipped with connecting groove,
Upper bottom surface is equipped with connection boss, between fixing cutter tank module and fast demountable girff module or adjacent fast demountable girff mould
It is entrenched togather between block by connection boss and connecting groove, and passes through fastening side ear connection；Fixing cutter tank module passes through three
Angle support component is fixedly mounted on the installation girff block region of test sewing platform base.
6. disk cutter tool changing robot simulation's testing stand according to claim 3, it is characterised in that: in gusseted group
Part is equipped with strip bolt hole.
7. disk cutter tool changing robot simulation's testing stand according to claim 1, it is characterised in that: convertible inclination angle
Girff module includes fixed part and sloping portion, and hydraulic cylinder support shaft is wherein equipped with inside fixed part and is installed on hydraulic cylinder
Digital straight line hydraulic cylinder in support shaft；Sloping portion lower end surface side is equipped with axis hole boss, the piston of digital straight line hydraulic cylinder
Bar front end and axis hole boss are rotatablely connected, and the sloping portion lower end surface other side and fixed part upper limb edge are rotatablely connected.
8. disk cutter tool changing robot simulation's testing stand according to claim 3 or 7, it is characterised in that: also have anti-
Fall off baffle, positioning baffle and support component, and wherein anti-dropout baffle is set to each layer of girff module openings side corner, fixed
Position baffle is set to the upper board edge of each layer girff module, and support component is connected to convertible inclination angle girff module fixed part
Cabinet inboard corner.
9. the application method of disk cutter tool changing robot simulation's testing stand according to claim 5, it is characterised in that packet
Include following steps:
1) testing stand is built according to test demand；
2) girff for simulating convertible inclination angle girff module tilts set angle；
3) change in location is tightened by the strip tapped through hole on gusseted component, realizes that girff block combiner is whole laterally
It is mobile.
10. the application method of disk cutter tool changing robot simulation's testing stand according to claim 7, it is characterised in that step
It is rapid 1) to include:
101) tool changing robot mounting base matrix is installed into tool changing machine by tool changing robot mounting base bottom plate and test sewing platform base
The connection of Qi Ren mounting base area；
102) the fixing cutter tank module of the bottom is connect with test sewing platform base installation girff block region, and passes through a gusseted
Component fastening；
103) convertible inclination angle girff module or fast demountable girff module are connected on fixing cutter tank module；
104) require to determine whether to continue to build at upper one layer fast demountable girff module or convertible further according to simulation test
Inclination angle girff module builds completion until meeting test requirements document.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811417747.1A CN109531623B (en) | 2018-11-26 | 2018-11-26 | Simulation test bed for disc hob cutter changing robot and use method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811417747.1A CN109531623B (en) | 2018-11-26 | 2018-11-26 | Simulation test bed for disc hob cutter changing robot and use method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109531623A true CN109531623A (en) | 2019-03-29 |
| CN109531623B CN109531623B (en) | 2021-08-10 |
Family
ID=65850130
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811417747.1A Active CN109531623B (en) | 2018-11-26 | 2018-11-26 | Simulation test bed for disc hob cutter changing robot and use method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109531623B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111595607A (en) * | 2020-05-29 | 2020-08-28 | 盾构及掘进技术国家重点实验室 | Shield/TBM tool changing experiment table based on tool changing robot |
| CN112305935A (en) * | 2019-07-31 | 2021-02-02 | 沈阳工业大学 | Shield tunneling machine tool changing process simulation system and simulation method based on semi-physical simulation and digital simulation |
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| EP1459856A1 (en) * | 2003-03-17 | 2004-09-22 | Nitta Corporation | Robot with an automatic device for exchanging the batteries of its tool |
| CN2763220Y (en) * | 2005-01-12 | 2006-03-08 | 陆向新 | Folding and sectional type packaging casing |
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| CN112305935A (en) * | 2019-07-31 | 2021-02-02 | 沈阳工业大学 | Shield tunneling machine tool changing process simulation system and simulation method based on semi-physical simulation and digital simulation |
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| Publication number | Publication date |
|---|---|
| CN109531623B (en) | 2021-08-10 |
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