CN109531623B - Simulation test bed for disc hob cutter changing robot and use method thereof - Google Patents
Simulation test bed for disc hob cutter changing robot and use method thereof Download PDFInfo
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- CN109531623B CN109531623B CN201811417747.1A CN201811417747A CN109531623B CN 109531623 B CN109531623 B CN 109531623B CN 201811417747 A CN201811417747 A CN 201811417747A CN 109531623 B CN109531623 B CN 109531623B
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- 238000012360 testing method Methods 0.000 title claims abstract description 95
- 238000004088 simulation Methods 0.000 title claims abstract description 40
- 238000000034 method Methods 0.000 title claims abstract description 12
- 230000008859 change Effects 0.000 claims abstract description 11
- 238000009434 installation Methods 0.000 claims description 7
- 238000000926 separation method Methods 0.000 claims description 5
- 230000007246 mechanism Effects 0.000 abstract description 3
- 230000000694 effects Effects 0.000 abstract description 2
- 238000013461 design Methods 0.000 description 9
- 238000010276 construction Methods 0.000 description 3
- 230000000903 blocking effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005094 computer simulation Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000011981 development test Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
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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
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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
- B25J19/0095—Means or methods for testing manipulators
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Abstract
The invention relates to a disk-shaped hob cutter changing robot simulation test bed and a use method thereof, wherein the test bed comprises a test bed base, a cutter changing robot mounting seat and a cutter box module, wherein the test bed base comprises a cutter changing robot mounting seat area and a cutter box module mounting area, and the cutter changing robot mounting seat is mounted on the cutter changing robot mounting seat area; the tool box module is arranged on the tool box module mounting area; the method comprises the following steps: building a test bed according to test requirements; simulating a set inclination angle of a tool box of the tool box module with a changeable inclination angle; the whole transverse movement of the knife box module combination is realized through the change of the screwing position of the strip-shaped threaded through hole on the triangular support component. According to the invention, each module is freely combined and assembled, so that the actual working condition can be reflected more truly, convenience is provided for optimizing the structure of the intelligent tool-changing robot and the reliability test of the mechanism precision, the test cost is saved, the test effect is good, and the establishment of a physical prototype test bed is simple and easy to implement.
Description
Technical Field
The invention relates to a simulation test bed for a disc hob cutter changing robot and a using method thereof, in particular to a simulation test bed for a disc hob cutter changing robot and a using method thereof.
Background
The research in the field of design of the shield machine test bed mainly focuses on two aspects of design of a simulation test bed and design of a laboratory environment test bed. The simulation test bed is used for carrying out mechanical analysis experiments; the laboratory environment test bed is generally used in combination with a tool changing robot, and has important practical significance. The construction of railway and road traffic tunnels and gas and oil pipeline tunnels in China also has huge development space, and the design of a cutter replacing robot or other auxiliary mechanisms begins to become a hot spot problem in the process of excavating tunnels by using the shield tunneling machine. The design of a disc cutter changing robot simulation test bed matched with a cutter changing robot is urgent.
The current disc cutter changing robot simulation test bed is generally fixed at a preset position, and free transformation and movement cannot be realized, so that the position of a simulated disc cutter box is fixed, and inconvenience is brought to practical application of a robot cutter changing test.
The current disc cutter changing robot simulation test bed is generally designed to be complex, generally only stays in a design theory stage, and is mainly applied to simulation, and the current shield machine simulation test bed has the following problems:
the structure is complex and the realization function is limited: the designed shield machine simulation test bed is mainly used for dynamic simulation, so that the real situation is restored as much as possible, the structural design is equivalent to the size of a real shield machine, and the shield machine simulation test bed is not suitable for processing a laboratory environment and building a solid model;
(II) fixing the position of the knife box: at present, a common shield machine simulation test bed generally adopts a fixed structure, and the position of a tool box is difficult to change after the construction is finished;
(III) the cost and the cost for building the laboratory are high: the shield machine simulation experiment table applied to simulation analysis occasions belongs to large-scale structural design, and the cost for building a solid model in a laboratory environment is huge.
Disclosure of Invention
Aiming at the defects that a shield machine simulation test bed in the prior art adopts a fixed structure, the position of a cutter box is difficult to change after the shield machine simulation test bed is built, and the like, the invention aims to solve the problem of providing a disk-shaped hob cutter changing robot simulation test bed which can save the test cost, can realize the simulation of the layout change of a disk-shaped hob cutter of a shield machine on a cutter head, and better cooperates with an intelligent hob cutter changing robot to perform a laboratory development test, and a use method thereof.
In order to solve the technical problems, the invention adopts the technical scheme that:
the invention relates to a simulation test bed for a disc-shaped hob cutter changing robot, which comprises a test bed base, a cutter changing robot mounting seat and a cutter box module, wherein the test bed base comprises a cutter changing robot mounting seat area and a cutter box module mounting area; the knife box module is arranged on the installation knife box module area.
The tool changing robot mounting seat comprises a tool changing robot mounting seat bottom plate, a tool changing robot mounting seat base body and a tool changing robot mounting seat flange disc, wherein the tool changing robot mounting seat base body is installed on the tool changing robot mounting seat area through the tool changing robot mounting seat bottom plate, and the tool changing robot mounting seat flange disc is arranged on the upper portion of the tool changing robot mounting seat base body.
The knife box module comprises a fixed knife box module, at least one knife box module capable of being quickly assembled and disassembled and a changeable oblique angle knife box module, wherein the fixed knife box module is fixedly arranged on the installation knife box module area, and the changeable oblique angle knife box module and the quickly assembled and disassembled knife box module are vertically arranged above the fixed knife box module in an arbitrary combination mode.
But quick assembly disassembly knife case module is 1~ 3.
The fixed cutter box module and each quick assembly disassembly cutter box module adopt cutter box structures capable of placing disc cutters, a connecting groove is formed in the lower bottom surface, a connecting boss is formed in the upper bottom surface, and the fixed cutter box module and the quick assembly disassembly cutter box module or adjacent quick assembly disassembly cutter box modules are embedded together through the connecting boss and the connecting groove and connected through fastening side lugs; the fixed tool box module is fixedly installed on the installation tool box module area of the test bed base through the triangular support assembly.
The triangular support component is provided with a strip-shaped bolt through hole.
The variable-inclination-angle knife box module comprises a fixed part and an inclined part, wherein a hydraulic cylinder supporting shaft and a digital linear hydraulic cylinder arranged on the hydraulic cylinder supporting shaft are arranged in the fixed part; one side of the lower end face of the inclined part is provided with a shaft hole boss, the front end of a piston rod of the digital linear hydraulic cylinder is rotatably connected with the shaft hole boss, and the other side of the lower end face of the inclined part is rotatably connected with the upper edge part of the fixed part.
The cutting tool box is characterized by further comprising anti-falling separation blades, positioning baffles and supporting components, wherein the anti-falling separation blades are arranged at the corner of the opening side of each layer of cutting tool box module, the positioning baffles are arranged at the edge of the upper plate of each layer of cutting tool box module, and the supporting components are connected to the corner of the inner side of the box body of the fixing part of the variable inclined angle cutting tool box module.
The invention discloses a use method of a simulation test bed of a disc hob cutter changing robot, which comprises the following steps:
1) building a test bed according to test requirements;
2) simulating a set inclination angle of a tool box of the tool box module with a changeable inclination angle;
3) the whole transverse movement of the knife box module combination is realized through the change of the screwing position of the strip-shaped threaded through hole on the triangular support component.
The step 1) comprises the following steps:
101) connecting a tool-changing robot mounting seat base body with a test bed base mounting tool-changing robot mounting seat area through a tool-changing robot mounting seat bottom plate;
102) connecting the fixed tool box module at the bottommost layer with a tool box module mounting area of a test bed base, and fastening through a triangular support assembly;
103) the fixed knife box module is connected with a knife box module with a changeable inclined angle or a knife box module capable of being quickly disassembled and assembled;
104) and determining whether to continue to build the quickly detachable knife box module or the changeable inclined angle knife box module on the upper layer according to the simulation test requirements until the test requirements are met, and completing the building.
The invention has the following beneficial effects and advantages:
1. according to the invention, the independent modular design of the test bed is adopted to realize the free combination and assembly of the modules, so that the actual working conditions can be reflected more truly, convenience is provided for optimizing the structure of the intelligent tool-changing robot and the reliability test of the mechanism precision, the test cost can be saved, better test effects can be achieved, a reference value is provided for the building technology of the simulation shield machine test bed, and the building of the physical prototype test bed is simple and easy.
2. The simulation test bed is a structure modularized structure adaptive to a laboratory environment, the whole structure is easy to disassemble and assemble, and the change of a plurality of working positions of the knife box is quickly realized, wherein the disassembly and the assembly are easy to realize that the test bed is quickly built and is easy to carry; the changeable inclination angle tool box module is connected with the tool box module capable of being quickly assembled and disassembled in different combinations, so that the simulation of the working positions of the plurality of disc cutter tool boxes is realized, and the change of the plurality of working positions of the tool boxes is quickly realized.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of a test stand base of the present invention;
FIG. 3 is a schematic view of a tool changing robot mount of the present invention;
FIG. 4A is a schematic view (I) of a quick-release tool magazine module of the present invention connected to a base of a test bed;
FIG. 4B is a schematic diagram of a quick-release tool box module of the present invention connected to a base of a test bed;
FIG. 5A is a schematic view (one) of a quick-release magazine module of the middle portion of the present invention;
FIG. 5B is a schematic view of a quick-release tool box module of the middle part of the present invention;
FIG. 6A is a schematic view of an upper plate of a quick-release magazine module according to the present invention;
FIG. 6B is a schematic view of the upper plate of the quick detachable knife box module according to the present invention;
FIG. 7A is a schematic view of a variable bevel blade box module according to the present invention;
FIG. 7B is a schematic view of a variable bevel blade box module of the present invention;
FIG. 8 is a schematic view of a triangular support assembly of the present invention;
FIG. 9 is a schematic structural diagram of the test bench after the disc cutter is placed.
The device comprises a test bed base, a tool changing robot mounting seat bottom plate, a tool changing robot mounting seat flange disc, a slope part, a tool box rotating shaft, a fixing part, a tool box module I, a fastening edge lug, a tool box module II, a tool box module 11, a shaft hole boss, a digital linear hydraulic cylinder 13, a hydraulic cylinder supporting shaft 14, a triangular supporting component 15, an anti-falling separation blade 16, a fastening edge lug 17, a triangular supporting component 18, a tool changing robot mounting seat area, a tool box module area, a connecting boss 21, a connecting groove 22 and a fixing baffle 23, wherein the tool changing robot mounting seat flange disc is 4.
Detailed Description
The invention is further elucidated with reference to the accompanying drawings.
As shown in fig. 1 and 2, the simulation test bed for a disc hob cutter changing robot of the present invention comprises a test bed base 1, a cutter changing robot mounting seat and a cutter box module, wherein the test bed base 1 comprises a cutter changing robot mounting seat area 19 and a cutter box module mounting area 20, and the cutter changing robot mounting seat is mounted on the cutter changing robot mounting seat area 19; the tool box module is mounted on the mounted tool box module area 20.
The tool changing robot mounting seat comprises a tool changing robot mounting seat bottom plate 2, a tool changing robot mounting seat base body 3 (shown in figure 3) and a tool changing robot mounting seat flange disc 4, wherein the tool changing robot mounting seat base body 3 is installed on a tool changing robot mounting seat zone 19 through the tool changing robot mounting seat bottom plate 2, and the tool changing robot mounting seat flange disc 4 is arranged on the upper portion of the tool changing robot mounting seat base body 3.
The knife box module comprises a fixed knife box module 11, one or more knife box modules capable of being rapidly assembled and disassembled and a changeable inclination angle knife box module, wherein the fixed knife box module 11 is fixedly arranged on the installation knife box module area 20, and the changeable inclination angle knife box module 5 and the knife box modules capable of being rapidly assembled and disassembled are vertically arranged above the fixed knife box module 11 in an arbitrary combination mode.
In this embodiment, but quick assembly disassembly knife case module is 1~3, but quick assembly disassembly knife case module one 8 and quick assembly disassembly knife case module two 10 structures are identical.
A fixed cutter box module and each quick assembly disassembly cutter box module (as shown in figures 4A and 4B) both adopt a cutter box structure (as shown in figure 9) capable of placing a disc cutter, a connecting groove 22 (as shown in figures 5A, 5B, 6A and 6B) is arranged on the lower bottom surface, a connecting boss 21 is arranged on the upper bottom surface, and the fixed cutter box module 11 and the quick assembly disassembly cutter box module or the adjacent quick assembly disassembly cutter box modules are embedded together through the connecting boss 21 and the connecting groove 22 and are connected through a fastening edge lug 9; the fixed blade box module 11 is fixedly mounted on the mounting blade box module area 20 of the test bed base 1 by a triangular support assembly 18 (shown in fig. 8).
In this embodiment, the triangular support member 18 is provided with a long strip bolt through hole.
The variable-inclination-angle knife box module comprises a fixed part 7 and an inclined part 5 (shown in figures 7A and 7B), wherein a hydraulic cylinder supporting shaft 14 and a digital linear hydraulic cylinder 13 arranged on the hydraulic cylinder supporting shaft are arranged inside the fixed part 7; one side of the lower end face of the inclined part is provided with a shaft hole boss 12, the front end of a piston rod of the digital linear hydraulic cylinder 13 is rotatably connected with the shaft hole boss 12, and the other side of the lower end face of the inclined part is rotatably connected with the upper edge part of the fixed part.
The cutter box modules of each layer are also provided with an anti-falling blocking piece 16 and a positioning baffle plate 23, wherein the anti-falling blocking piece 16 is arranged at the corner part of the side edge of the opening of each layer of cutter box module and is used for preventing the disc cutter from falling off the cutter box; the positioning baffle plates 23 are arranged on the edges of the upper end plate and the lower end plate of each layer of the knife box module and are used for quickly positioning different quickly-disassembled knife box modules; the changeable inclined angle tool box module is also provided with a supporting component 15 which is connected with the inner corner of the box body of the fixed part 7 of the changeable inclined angle tool box module to ensure the stability of the changeable inclined angle tool box module.
The invention discloses a use method of a simulation test bed of a disc hob cutter changing robot, which comprises the following steps:
1) building a test bed according to the test requirements;
2) simulating the inclination set angle of a tool box 5 of the tool box module with a changeable inclination angle;
3) the whole cutter box module combination can move transversely through the change of the screwing position of the strip-shaped threaded through hole on the triangular support component 18.
The step 1) comprises the following steps:
101) connecting a tool-changing robot mounting base substrate 3 with a test bed base mounting tool-changing robot mounting base region 19 through a tool-changing robot mounting base bottom plate 2;
102) connecting the fixed tool box module at the bottommost layer with a test bed base installation tool box module area 20, and fastening through 4 triangular support assemblies 18;
103) the fixed knife box module is connected with a knife box module with a changeable inclined angle or a knife box module capable of being quickly disassembled and assembled;
104) and determining whether to continue to build the quickly detachable knife box module or the changeable inclined angle knife box module on the upper layer according to the simulation test requirements until the test requirements are met, and completing the building.
In the embodiment, the test bed comprises a fixed knife box module 11, two quickly detachable knife box modules, namely a first quickly detachable knife box module and a changeable inclination angle knife box module 5, firstly, a knife changing robot mounting seat 3 is connected with a test bed base mounting knife changing robot mounting seat zone 19 through a knife changing robot mounting seat bottom plate 2, the quickly detachable knife box module 11 connected with a test bed base 1 is connected with a test bed base mounting knife box module zone 20 and is fastened by 4 triangular supporting components 18, a second quickly detachable knife box module 10 is connected on the fixed knife box module 11, a first quickly detachable knife box module 8 is connected on the second quickly detachable knife box module 10, a changeable inclination angle knife box module is connected on the first quickly detachable knife box module 8, and the test bed is built;
by controlling the extension or shortening of a digital linear hydraulic cylinder 13 connected with the changeable inclination angle tool box module, the digital linear hydraulic cylinder 13 pushes or strains a shaft hole boss structure 12 of the changeable inclination angle tool box module, the tool box 5 of the uppermost changeable inclination angle tool box module rotates around a tool box rotating shaft 6 of the changeable inclination angle tool box module, and therefore the tool box 5 of the changeable inclination angle tool box module is simulated to incline to a set angle;
the triangular support component 18 is provided with a strip-shaped threaded through hole, and the whole cutter box module combination can move transversely by changing the screwing position of a bolt in the strip-shaped threaded through hole;
after the quick detachable knife box module 11 is connected with the test bed base mounting knife box module area 20, the fixed part 7 of the changeable oblique angle knife box module is directly connected with the quick detachable knife box module 11 on the connection test bed base 1, the second quick detachable knife box module 10 is connected on the oblique part 5 of the changeable oblique angle knife box module, the first quick detachable knife box module 8 is connected on the second quick detachable knife box module 10, the fixed part 5 (knife box) of the changeable oblique angle knife box module is realized by controlling the digital linear hydraulic cylinder 13 in the connection changeable oblique angle knife box module, the second quick detachable knife box module 10 and the first quick detachable knife box module 8 are simultaneously inclined for a set degree.
After the quick detachable knife box module 11 is connected with the test bed base mounting knife box module area 20, the second quick detachable knife box module 10 is connected on the quick detachable knife box module 11, the convertible oblique angle knife box module is connected on the second quick detachable knife box module 10, the first quick detachable knife box module 8 is connected on the fixing part 5 of the convertible oblique angle knife box module, and the fixing part 5 (knife box) of the convertible oblique angle knife box module and the first quick detachable knife box module 8 are inclined at the same time to set angles by controlling and connecting the digital linear hydraulic cylinder 13 in the convertible oblique angle knife box module.
The test bed is suitable for the laboratory environment, is modularized in structure, easy to disassemble and assemble in the whole structure, and can quickly realize the change of a plurality of working positions of the knife box, and has the characteristics of quick construction and easy carrying of the test bed due to easy disassembly and assembly. The changeable inclination angle cutter box module is connected with the quickly detachable cutter box module in different combinations, so that the working position change simulation of the plurality of disc cutter boxes on the cutter head of the shield machine is realized.
Claims (9)
1. The utility model provides a disk hob tool changing robot analogue test platform which characterized in that: the test bed comprises a test bed base, a tool changing robot mounting seat and a tool box module, wherein the test bed base comprises a tool changing robot mounting seat area and a tool box module mounting area; the tool box module is arranged on the tool box module mounting area;
the knife box module comprises a fixed knife box module, at least one knife box module capable of being quickly assembled and disassembled and a changeable oblique angle knife box module, wherein the fixed knife box module is fixedly arranged on the installation knife box module area, and the changeable oblique angle knife box module and the quickly assembled and disassembled knife box module are vertically arranged above the fixed knife box module in an arbitrary combination mode.
2. The disc cutter changing robot simulation test bed according to claim 1, wherein: the tool changing robot mounting seat comprises a tool changing robot mounting seat bottom plate, a tool changing robot mounting seat base body and a tool changing robot mounting seat flange disc, wherein the tool changing robot mounting seat base body is installed on the tool changing robot mounting seat area through the tool changing robot mounting seat bottom plate, and the tool changing robot mounting seat flange disc is arranged on the upper portion of the tool changing robot mounting seat base body.
3. The disc cutter changing robot simulation test bed according to claim 1, wherein: but quick assembly disassembly knife case module is 1~ 3.
4. The disc cutter changing robot simulation test bed according to claim 1, wherein: the fixed cutter box module and each quick assembly disassembly cutter box module adopt cutter box structures capable of placing disc cutters, a connecting groove is formed in the lower bottom surface, a connecting boss is formed in the upper bottom surface, and the fixed cutter box module and the quick assembly disassembly cutter box module or adjacent quick assembly disassembly cutter box modules are embedded together through the connecting boss and the connecting groove and connected through fastening side lugs; the fixed tool box module is fixedly installed on the installation tool box module area of the test bed base through the triangular support assembly.
5. The disc cutter changing robot simulation test bed according to claim 1, wherein: the triangular support component is provided with a strip-shaped bolt through hole.
6. The disc cutter changing robot simulation test bed according to claim 1, wherein: the variable-inclination-angle knife box module comprises a fixed part and an inclined part, wherein a hydraulic cylinder supporting shaft and a digital linear hydraulic cylinder arranged on the hydraulic cylinder supporting shaft are arranged in the fixed part; one side of the lower end face of the inclined part is provided with a shaft hole boss, the front end of a piston rod of the digital linear hydraulic cylinder is rotatably connected with the shaft hole boss, and the other side of the lower end face of the inclined part is rotatably connected with the upper edge part of the fixed part.
7. A disc cutter changing robot simulation test bench according to claim 1 or 6, characterized in that: the cutting tool box is characterized by further comprising anti-falling separation blades, positioning baffles and supporting components, wherein the anti-falling separation blades are arranged at the corner of the opening side of each layer of cutting tool box module, the positioning baffles are arranged at the edge of the upper plate of each layer of cutting tool box module, and the supporting components are connected to the corner of the inner side of the box body of the fixing part of the variable inclined angle cutting tool box module.
8. The use method of the disc cutter changing robot simulation test bed according to claim 4, characterized by comprising the following steps:
1) building a test bed according to test requirements;
2) simulating a set inclination angle of a tool box of the tool box module with a changeable inclination angle;
3) the whole transverse movement of the knife box module combination is realized through the change of the screwing position of the strip-shaped threaded through hole on the triangular support component.
9. The use method of the disc cutter changing robot simulation test bed according to claim 8, wherein the step 1) comprises:
101) connecting a tool-changing robot mounting seat base body with a test bed base mounting tool-changing robot mounting seat area through a tool-changing robot mounting seat bottom plate;
102) connecting the fixed tool box module at the bottommost layer with a tool box module mounting area of a test bed base, and fastening through a triangular support assembly;
103) the fixed knife box module is connected with a knife box module with a changeable inclined angle or a knife box module capable of being quickly disassembled and assembled;
104) and determining whether to continue to build the quickly detachable knife box module or the changeable inclined angle knife box module on the upper layer according to the simulation test requirements until the test requirements are met, and completing the building.
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| 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 |
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| 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 |
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| CN109531623A CN109531623A (en) | 2019-03-29 |
| CN109531623B true CN109531623B (en) | 2021-08-10 |
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| CN201811417747.1A Expired - Fee Related CN109531623B (en) | 2018-11-26 | 2018-11-26 | Simulation test bed for disc hob cutter changing robot and use method thereof |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112305935B (en) * | 2019-07-31 | 2022-11-08 | 沈阳工业大学 | Method for simulating tool changing process of shield machine based on semi-physical simulation and digital simulation |
| CN111595607B (en) * | 2020-05-29 | 2021-12-14 | 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 |
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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 |
| CN1880010A (en) * | 2005-06-18 | 2006-12-20 | 阿尔冯·凯斯勒专用机械制造有限公司 | A machine-tool system with a robot and a tool magazine |
| CN103801969A (en) * | 2012-11-09 | 2014-05-21 | 西安扩力机电科技有限公司 | Computer numerical control machining center based on quick and automatic tool changing system |
| CN106761795A (en) * | 2017-03-08 | 2017-05-31 | 东北大学 | A kind of shield machine disk cutter girff structure |
| CN108760258A (en) * | 2018-04-10 | 2018-11-06 | 东北大学 | A kind of simulator stand and its application method of cutter head of shield machine |
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2018
- 2018-11-26 CN CN201811417747.1A patent/CN109531623B/en not_active Expired - Fee Related
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN1880010A (en) * | 2005-06-18 | 2006-12-20 | 阿尔冯·凯斯勒专用机械制造有限公司 | A machine-tool system with a robot and a tool magazine |
| CN103801969A (en) * | 2012-11-09 | 2014-05-21 | 西安扩力机电科技有限公司 | Computer numerical control machining center based on quick and automatic tool changing system |
| CN106761795A (en) * | 2017-03-08 | 2017-05-31 | 东北大学 | A kind of shield machine disk cutter girff structure |
| CN108760258A (en) * | 2018-04-10 | 2018-11-06 | 东北大学 | A kind of simulator stand and its application method of cutter head of shield machine |
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| CN109531623A (en) | 2019-03-29 |
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