CN109910017A - A kind of detection used suitable for shield/tool changing robot and its application method - Google Patents
A kind of detection used suitable for shield/tool changing robot and its application method Download PDFInfo
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- CN109910017A CN109910017A CN201910328482.6A CN201910328482A CN109910017A CN 109910017 A CN109910017 A CN 109910017A CN 201910328482 A CN201910328482 A CN 201910328482A CN 109910017 A CN109910017 A CN 109910017A
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- 238000001514 detection method Methods 0.000 title claims abstract description 49
- 238000000034 method Methods 0.000 title claims abstract description 15
- 239000012636 effector Substances 0.000 claims abstract description 12
- 230000002159 abnormal effect Effects 0.000 claims description 10
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 8
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 5
- 229910052742 iron Inorganic materials 0.000 claims description 4
- 238000012544 monitoring process Methods 0.000 abstract description 5
- 230000009193 crawling Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 8
- 238000010276 construction Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 230000017260 vegetative to reproductive phase transition of meristem Effects 0.000 description 1
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Abstract
The invention discloses a kind of detection used suitable for shield/tool changing robot and its application method, the technical issues of solution is that existing Tool monitoring and tool changing work rely primarily on manual work, and security risk is big, the serious accidents such as casualties easily occurs.The present invention includes chassis system, and the chassis system is equipped with cutter and hanging bracket, and the hanging bracket is equipped with end effector mechanism.The present invention realizes the step of changing in crawling process by the mobile leg on detection/tool changing robot chassis system, and then realizes detection/tool changing robot all around moving on cutterhead, and then reaches any position on cutterhead；The cutter needed replacing is detected by the detector that detection/tool changing robot carries and carries out robot tool changing.
Description
Technical field
The present invention relates to constructing tunnel fields, and in particular to a kind of detection used suitable for shield/tool changing robot and its
Application method.
Background technique
Cutter consumption is big in full face tunnel boring machine work progress, replaces frequently, at present Tool monitoring and tool changing activity duration
10% or more of constructing tunnel period is accounted for, existing Tool monitoring and tool changing work rely primarily on manual work, great burying, high hydraulic pressure
Etc. operation safety hidden danger is big under construction environments, easily there are the serious accidents such as casualties.The world of " detection is difficult, tool changing is dangerous "
Property industry problems have become restrict complex geological condition under safety for tunnel engineering and efficiency principal element.Therefore, efficiently to pacify
Complete " machine substitute human labor " work pattern realizes that Tool monitoring and tool changing operation are imperative.
Summary of the invention
The technical problem to be solved by the present invention is to existing Tool monitorings and tool changing work to rely primarily on manual work, and safety is hidden
Suffer from big, the serious accidents such as casualties easily occur, provide it is a kind of efficiently quickly, using robot detection and tool changing, be suitable for
The detection that shield uses/tool changing robot and its application method.
In order to solve the above technical problems, the present invention adopts the following technical solutions: a kind of detection/tool changing used suitable for shield
Robot, including chassis system, the chassis system are equipped with cutter and hanging bracket, and the hanging bracket is equipped with end
Hold executing agency.
The chassis system is equipped with cutter fixture, and cutter is connect by cutter fixture with chassis system.
The chassis system includes braced frame, is equipped with rack gear and sliding slot on the outside of braced frame, matches and set with rack gear
There are several to move leg；At least provided with three mobile legs in every toothed rack.
The braced frame is square frame, and square frame surrounding is equipped with rack gear, sets that there are three move in every toothed rack
Leg is moved, three mobile legs on rack gear on front side of the braced frame are respectively No. IV mobile leg, No. V mobile leg and No. VI shifting
Leg is moved, the rack gear on rear side of braced frame and the rack gear on front side of it are symmetrical arranged；Three on rack gear on the right side of the braced frame
A mobile leg is respectively No. I mobile leg, No. II mobile leg and No. III mobile leg, rack gear on the left of braced frame and its on the right side of
Rack gear is symmetrical arranged.
The mobile leg includes upper supporting leg and lower supporting leg, and lower supporting leg is socketed in upper supporting leg, and lower supporting leg is telescopic outrigger；
The upper supporting leg upper end is equipped with gear, is matched with gear equipped with motor, and the side of the upper supporting leg is equipped with sliding block；It is described
Wheel and rack engage connection, the sliding block matches with sliding slot.
The lower supporting leg lower end is equipped with electromagnetism iron plate.
The braced frame bottom is equipped with sensor or camera or high-pressure water pipe.
The end effector mechanism includes parallel connection platform, and parallel connection platform top is connect with hanging bracket, lower part is equipped with No. I
Oil cylinder, gripper and II oil cylinder；The clamping jaw includes the I gripper and II gripper of articulated connection；The upper end of I oil cylinder,
The upper end of II oil cylinder and the upper end of II gripper are articulated and connected with parallel connection platform respectively, and the lower end of I oil cylinder and I gripper are cut with scissors
It connects in succession, the lower end of II oil cylinder and II gripper are articulated and connected.
A kind of application method of the detection used suitable for shield/tool changing robot, it is characterised in that the following steps are included: 1.
Detect cutter: detection/tool changing robot chassis system side mobile lateral dominance sensor detection cutter on cutterhead；2. abnormal knife
Tool disassembly: when sensor detects that the cutter on cutterhead needs tool changing extremely, I oil cylinder in end effector mechanism it is upper
End, II oil cylinder, number gripper disassemble abnormal cutter with number gripper cooperation；3. installing new cutter: end effector mechanism
By the new Cutting tool installation manner carried on chassis system to the step position that 2. middle abnormal cutter disassembles, cutter is completed more
It changes.
1. the movement of detection/tool changing robot chassis system on cutterhead includes being moved forward and backward and left and right to step
Mobile, the following steps are included: under a, original state when forward movement, No. I mobile leg, No. II mobile leg and No. III mobile leg divide
It is not distributed in rear end, centre and the front end of right side rack gear.
B, rack drives chassis system in right side is walked to first half walking: the lower supporting leg of No. II mobile leg and No. III mobile leg is stretched
It is used as supporting leg out, the lower supporting leg of No. I mobile leg retracts, the gear for controlling No. II mobile leg and No. III mobile leg rotates, and No. I
The gear of mobile leg does not rotate, and such No. II mobile leg and No. III mobile leg gear rotation drive right side rack gear to move forward half
Step, it is adjacent with No. II mobile leg that rack gear movement in right side drives No. I mobile leg to move forward to, and then realizes chassis system first half step
Walking；
C, No. II mobile leg changes forward step: after chassis system described in step b moves forward half step, No. I mobile leg and No. II shifting
Dynamic leg is in the rear end of right side rack gear, and No. III mobile leg is in the centre of right side rack gear, at this point, by No. I mobile leg and No. III
The lower supporting leg of mobile leg, which stretches out, is used as supporting leg, and the lower supporting leg of No. II mobile leg retracts, and controls No. I mobile leg and III movement
The gear of leg does not rotate, and the gear rotation of No. II mobile leg, right side rack gear in this way is motionless, and No. II mobile leg is transported forward with respect to rack gear
It moves to adjacent with No. III mobile leg, that realizes No. II mobile leg changes forward step；
D, No. III mobile leg changes forward step: No. II mobile leg described in step c changes after the completion of step forward, and No. I mobile leg is in the right side
The rear end of side rack gear, No. II mobile leg and No. III mobile leg are in the centre of right side rack gear, at this point, by No. I mobile leg and No. II
The lower supporting leg of mobile leg, which stretches out, is used as supporting leg, and the lower supporting leg of No. III mobile leg retracts, and controls No. I mobile leg and II movement
The gear of leg does not rotate, and the gear rotation of No. III mobile leg, right side rack gear in this way is motionless, and No. III mobile leg is forward with respect to rack gear
The front end with right side rack gear is moved to, that realizes No. III mobile leg changes forward step；
E, No. III mobile leg of realization described in step d change step forward after, three mobile legs on the rack gear of right side return to step a
The walking forward of detection/tool changing robot can be realized in the original state, circulation step b ~ d.
The present invention is realized in crawling process by the mobile leg on detection/tool changing robot chassis system changes step, into
And realize detection/tool changing robot all around moving on cutterhead, and then reach any position on cutterhead；Pass through inspection
The detector that survey/tool changing robot carries detects the cutter needed replacing and carries out robot tool changing, do not need it is artificial again into
Enter under the construction environments such as great burying, high hydraulic pressure, reduce security risk, knife is realized with " machine substitute human labor " work pattern of highly effective and safe
Tool detection and tool changing operation.
Detailed description of the invention
Fig. 1 is schematic structural view of the invention；
Fig. 2 is chassis system structural schematic diagram of the present invention；
Fig. 3 is chassis system bottom substance schematic diagram of the present invention；
Fig. 4 is the mobile leg structural schematic diagram of the present invention；
Fig. 5 is end effector mechanism structural schematic diagram of the present invention；
Fig. 6 is original state flowering structure schematic diagram when detection of the present invention/tool changing robot is mobile；
Fig. 7 is one of structural schematic diagram when detection of the present invention/tool changing robot is mobile；
Fig. 8 is second structural representation when detection of the present invention/tool changing robot is mobile；
Fig. 9 is third structural representation when detection of the present invention/tool changing robot is mobile；
Figure 10 is four of structural schematic diagram when detection of the present invention/tool changing robot is mobile；
Figure 11 is five of structural schematic diagram when detection of the present invention/tool changing robot is mobile.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under that premise of not paying creative labor
Embodiment shall fall within the protection scope of the present invention.
As shown in Figure 1 to 11, a kind of detection used suitable for shield/tool changing robot, including chassis system 1, it is described
Chassis system 1 be equipped with cutter 2 and hanging bracket 101, the hanging bracket 101 be equipped with end effector mechanism 3.
The chassis system 1 is equipped with cutter fixture 102, and cutter 2 is connect by cutter fixture 102 with chassis system 1.
The cutter fixture 102 is equipped with groove, and cutter 2 is hobboing cutter, and the cutter shaft at hobboing cutter cutter both ends is connected to cutter fixture 102
In groove.
The chassis system 1 includes braced frame 1011, is equipped with rack gear 103 and sliding slot on the outside of braced frame 1011
1012, it is matched with rack gear 103 and moves leg equipped with several；At least provided with three mobile legs in every toothed rack 103.
The braced frame 1011 is square frame, and square frame surrounding is equipped with rack gear 103, in every toothed rack 103
If three mobile legs on the rack gear 103 of 1011 front side of braced frame are respectively No. IV mobile leg there are three mobile leg
108, No. V mobile leg 109 and No. VI mobile leg 1010, the rack gear 103 and the rack gear on front side of it of 1011 rear side of braced frame are symmetrical
Setting；Three mobile legs on the rack gear 103 on 1011 right side of braced frame are respectively No. I mobile leg 105, II movement
Leg 106 and No. III mobile leg 107, the rack gear 103 and the rack gear on the right side of it in 1011 left side of braced frame are symmetrical arranged.Mobile leg
Quantity be configured according to the size and weight of braced frame, guarantee that the quantity of mobile leg of weighing stretching state is able to bear
Weight bearing in braced frame；The present invention is illustrated for being set in every toothed rack 103 there are three mobile leg.
The mobile leg includes upper supporting leg 1051 and lower supporting leg 1052, and lower supporting leg 1052 is socketed in upper supporting leg 1051,
Lower supporting leg 1052 is telescopic outrigger；1051 upper end of upper supporting leg is equipped with gear 1051, matches with gear 1051 and is equipped with electricity
The side of machine, the upper supporting leg 1051 is equipped with sliding block 1054；The gear 1051 engages connection with rack gear 103, described
Sliding block 1054 is matched with sliding slot 1012.Gear on each mobile leg of the present invention is correspondingly arranged a motor, by opening for motor
Stop the rotation and stopping of control gear；In use, mobile leg is fixed on cutterhead, with rack-driving, sliding block 1054 is in sliding slot
It is moved in 1012, drives chassis system mobile, and then realize the walking of chassis system.1051 upper end of upper supporting leg of the present invention and upper branch
Upper end inside leg 1051 is connected by telescoping cylinder, may be implemented to relatively move.
1052 lower end of lower supporting leg is equipped with electromagnetism iron plate 1056.Electromagnetism iron plate is set, when energization, so that the present invention exists
It is adsorbed on cutterhead under the action of electromagnet magnetic force, realizes walking of the present invention on vertical direction cutterhead.
1011 bottom of braced frame is equipped with sensor 104 or camera or high-pressure water pipe.Biography of the present invention
Sensor can be various sensors, such as current vortex sensor, camera, high-pressure water pipe, current vortex sensor detect cutter
When abnormal, detection/tool changing robot stretches out, and the high-pressure water pipe carried using detection/tool changing robot rinses abnormal cutter dry
Only it and takes pictures, is judged whether to need tool changing according to photo.
The end effector mechanism 3 includes parallel connection platform 301,301 top of parallel connection platform connect with hanging bracket 101,
Lower part is equipped with I oil cylinder 302, gripper and II oil cylinder 305；The clamping jaw includes the I gripper 303 being articulated and connected and No. II
Gripper 304；The upper end of the upper end of I oil cylinder 302, the upper end of II oil cylinder 305 and II gripper 304 respectively with parallel connection platform
301 articulated connections, the lower end of I oil cylinder 302 and I gripper 303 are articulated and connected, the lower end of II oil cylinder 305 and II gripper
304 articulated connections.Gripper of the invention is grabbed for arc, and arc grabs centre there are fluting, and hobboing cutter cutter head is stuck in the fluting that arc is grabbed
Interior, the fluting two sides that arc is grabbed are clamped in respectively on the shoulder of hobboing cutter, pass through the control to I oil cylinder 302 and II oil cylinder 305
Realize release and tightening of the clamping jaw to hobboing cutter.Parallel connection platform of the invention uses Six Degree-of-Freedom Parallel Platform.
A kind of application method of the detection used suitable for shield/tool changing robot, it is characterised in that the following steps are included: 1.
Detect cutter: 1 side of detection/tool changing robot chassis system mobile lateral dominance detection cutter of sensor 104 on cutterhead；2. different
Normal cutter disassembly: the I oil when sensor 104 detects that the cutter on cutterhead needs tool changing extremely, in end effector mechanism 3
305, No. 1 upper end of cylinder 302, II oil cylinder cooperations of gripper 303 and No. 2 gripper 304 disassemble abnormal cutter；3. installation is new
Cutter: end effector mechanism 3 by the new cutter 2 carried on chassis system 1 be installed to step 2. under abnormal cutter dismantles
The position come, completes the replacement of cutter.
1. the movement of detection/tool changing robot chassis system 1 on cutterhead includes being moved forward and backward and left to step
It moves right, when forward movement the following steps are included: under a, original state, No. I mobile leg 105, II mobile legs 106 and No. III
Mobile leg 107 is respectively distributed to rear end, centre and the front end of right side rack gear；As shown in Figure 6.
B, right side rack drives chassis system 1 is walked to first half walking: No. II mobile leg 106 and No. III mobile leg 107
Lower supporting leg, which stretches out, is used as supporting leg, and the lower supporting leg of No. I mobile leg 105 retracts, as shown in fig. 6, No. II 106 He of mobile leg of control
The gear rotation of No. III mobile leg 107, the gear of No. I mobile leg 105 do not rotate, such No. II mobile leg 106 and No. III shifting
Dynamic 107 gear of leg rotation drives right side rack gear to move forward half and walks, and right side rack gear is mobile to drive No. I mobile leg 105 to travel forward
It is extremely adjacent with No. II mobile leg 106, and then realize that 1 first half walking of chassis system is walked；As shown in Figure 7；
C, No. II mobile leg 106 changes forward step: after chassis system 1 described in step b moves forward half step, No. I 105 He of mobile leg
No. II mobile leg 106 is in the rear end of right side rack gear, and No. III mobile leg 107 is in the centre of right side rack gear, as shown in fig. 7, this
When, the lower supporting leg of No. I mobile leg 105 and No. III mobile leg 107 is stretched out and is used as supporting leg, the lower supporting leg of No. II mobile leg 106
It retracts, as shown in figure 8, the gear of No. I mobile leg 105 of control and No. III mobile leg 107 does not rotate, the tooth of No. II mobile leg 106
Wheel rotation, in this way on the right side of rack gear it is motionless, No. II mobile leg 106 moved forward to relative to rack gear it is adjacent with No. III mobile leg 107,
As shown in figure 9, No. II mobile leg 106 of realization changes forward step；
D, No. III mobile leg 107 changes forward step: No. II mobile leg 106 described in step c changes after the completion of step forward, No. I mobile leg
105 are in the rear end of right side rack gear, and No. II mobile leg 106 and No. III mobile leg 107 are in the centre of right side rack gear, at this point, will
The lower supporting leg of No. I mobile leg 105 and No. II mobile leg 106, which stretches out, is used as supporting leg, and the lower supporting leg of No. III mobile leg 107 retracts,
As shown in Figure 10, it controls No. I mobile leg 105 and the gear of No. II mobile leg 106 does not rotate, the gear of No. III mobile leg 107 turns
Dynamic, right side rack gear in this way is motionless, and No. III opposite rack gear of mobile leg 107 moves forward to the front end with right side rack gear, such as Figure 11 institute
Show, that realizes No. III mobile leg 107 changes forward step；
E, No. III mobile leg 107 of realization described in step d change step forward after, three mobile legs on the rack gear of right side return to step
The walking forward of detection/tool changing robot can be realized in original state described in rapid a, circulation step b ~ d.
Moving process described in step a ~ e of the present invention makes synchronization action in the mobile leg that its symmetric position is arranged.This
The length for inventing a right side chain is the length of one step of forward movement of chassis system 1, and the length of half of right side chain is forward
The length of mobile half step.
When the present invention is moved forward and backward, on front side of detection/tool changing robot and the mobile leg of rear side is retracted mode, does not influence it
It is moved forward and backward；When moving left and right, the mobile leg of detection/tool changing robot left and right side is retracted mode, does not influence its left and right
It is mobile；The process walked before detection of the present invention/tool changing robot is backward, walking process is in the same direction to the left and to the right, while this hair
It is bright to increase rotating mechanism on chassis system 1 and realize its turning function.
Claims (10)
1. a kind of detection used suitable for shield/tool changing robot, it is characterised in that: including chassis system (1), the chassis
System (1) is equipped with cutter (2) and hanging bracket (101), and the hanging bracket (101) is equipped with end effector mechanism (3).
2. detection/tool changing the robot according to claim 1 used suitable for shield, it is characterised in that: the chassis
System (1) is equipped with cutter fixture (102), and cutter (2) is connect by cutter fixture (102) with chassis system (1).
3. detection/tool changing the robot according to claim 1 used suitable for shield, it is characterised in that: the chassis
System (1) includes braced frame (1011), rack gear (103) and sliding slot (1012) is equipped on the outside of braced frame (1011), with rack gear
(103) it matches and moves leg equipped with several；At least provided with three mobile legs on every toothed rack (103).
4. detection/tool changing the robot according to claim 3 used suitable for shield, it is characterised in that: the support
Frame (1011) is square frame, and square frame surrounding is equipped with rack gear (103), sets that there are three mobile on every toothed rack (103)
Leg, three mobile legs on rack gear (103) on front side of the braced frame (1011) are respectively No. IV mobile leg (108), No. V
Leg (109) and No. VI mobile leg (1010) are moved, the rack gear (103) on rear side of braced frame (1011) and the rack gear on front side of it are symmetrical
Setting；The mobile leg of three on rack gear (103) on the right side of the braced frame (1011) is respectively No. I mobile leg (105), II
Number mobile leg (106) and No. III mobile leg (107), the rack gear (103) on the left of braced frame (1011) and the rack gear pair on the right side of it
Claim setting.
5. detection/tool changing the robot according to claim 3 used suitable for shield, it is characterised in that: the movement
Leg includes upper supporting leg (1051) and lower supporting leg (1052), and lower supporting leg (1052) is socketed in upper supporting leg (1051), lower supporting leg
It (1052) is telescopic outrigger；Upper supporting leg (1051) upper end is equipped with gear (1051), matches and is equipped with gear (1051)
The side of motor, the upper supporting leg (1051) is equipped with sliding block (1054)；The gear (1051) and rack gear (103) company of engagement
It connects, the sliding block (1054) is matched with sliding slot (1012).
6. detection/tool changing the robot according to claim 5 used suitable for shield, it is characterised in that: the lower branch
Leg (1052) lower end is equipped with electromagnetism iron plate (1056).
7. detection/tool changing the robot according to claim 3 used suitable for shield, it is characterised in that: the support
Frame (1011) bottom is equipped with sensor (104) or camera or high-pressure water pipe.
8. detection/tool changing the robot according to claim 1 used suitable for shield, it is characterised in that: the end
Executing agency (3) includes parallel connection platform (301), and parallel connection platform (301) top is connect with hanging bracket (101), lower part is equipped with No. I
Oil cylinder (302), gripper and II oil cylinder (305)；The clamping jaw includes the I gripper (303) and II gripper of articulated connection
(304)；It is put down respectively in parallel the upper end of the upper end of I oil cylinder (302), the upper end of II oil cylinder (305) and II gripper (304)
Platform (301) articulated connection, the lower end and I gripper (303) of I oil cylinder (302) are articulated and connected, the lower end of II oil cylinder (305)
It is articulated and connected with II gripper (304).
9. a kind of detection/tool changing robot application method according to claim 1-7 used suitable for shield,
Characterized by the following steps: it 1. detects cutter: being moved on cutterhead on detection/tool changing robot chassis system (1) side
Lateral dominance detects cutter with sensor (104)；2. abnormal cutter disassembly: when sensor (104) detects the exception of the cutter on cutterhead
When needing tool changing, the upper end of the I oil cylinder (302) in end effector mechanism (3), II oil cylinder (305), No. 1 gripper (303) with
No. 2 gripper (304) cooperations disassemble abnormal cutter；3. installing new cutter: end effector mechanism (3) is by chassis system
(1) the new cutter (2) carried on is installed to the step position that 2. middle abnormal cutter disassembles, and completes the replacement of cutter.
10. detection/tool changing robot the application method according to claim 9 used suitable for shield, it is characterised in that:
1. the movement of detection/tool changing robot chassis system (1) on cutterhead includes being moved forward and backward and moving left and right to step,
When forward movement the following steps are included: under a, original state, No. I mobile leg (105), No. II mobile leg (106) and No. III shifting
Dynamic leg (107) are respectively distributed to rear end, centre and the front end of right side rack gear；
B, right side rack drives chassis system (1) is walked to first half walking: No. II mobile leg (106) and No. III mobile leg (107)
Lower supporting leg stretch out and be used as supporting leg, the lower supporting leg of No. I mobile leg (105) retracts, No. II mobile leg (106) of control and No. III
The gear rotation of mobile leg (107), the gear of No. I mobile leg (105) do not rotate, such No. II mobile leg (106) and No. III shifting
Dynamic leg (107) gear rotation drives right side rack gear to move forward half and walks, and right side rack gear is mobile to drive No. I mobile leg (105) forward
Move to it is adjacent with No. II mobile leg (106), and then realize chassis system (1) first half walking walk；
C, No. II mobile leg (106) changes forward step: after chassis system described in step b (1) moves forward half step, No. I mobile leg
(105) and No. II mobile leg (106) be in right side rack gear rear end, No. III mobile leg (107) be on the right side of rack gear centre,
Supporting leg, No. II mobile leg (106) are used as at this point, the lower supporting leg of No. I mobile leg (105) and No. III mobile leg (107) is stretched out
Lower supporting leg retract, the gear for controlling No. I mobile leg (105) and No. III mobile leg (107) does not rotate, No. II mobile leg (106)
Gear rotation, in this way on the right side of rack gear it is motionless, No. II mobile leg (106) moves forward to and No. III mobile leg relative to rack gear
(107) adjacent, that realizes No. II mobile leg (106) changes forward step；
D, No. III mobile leg (107) changes forward step: No. II mobile leg (106) described in step c is changed after the completion of step forward, No. I shifting
Dynamic leg (105) are in the rear end of right side rack gear, and No. II mobile leg (106) and No. III mobile leg (107) are in the rack gear of right side
Between, supporting leg, No. III mobile leg are used as at this point, the lower supporting leg of No. I mobile leg (105) and No. II mobile leg (106) is stretched out
(107) lower supporting leg retracts, and the gear for controlling No. I mobile leg (105) and No. II mobile leg (106) does not rotate, No. III mobile leg
(107) gear rotation, right side rack gear in this way is motionless, and No. III mobile leg (107) moves forward to and right side rack gear with respect to rack gear
Front end, that realizes No. III mobile leg (107) changes forward step；
E, realization III mobile leg (107) described in step d change step forward after, three mobile legs on the rack gear of right side return to
The walking forward of detection/tool changing robot can be realized in original state described in step a, circulation step b ~ d.
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| CN201910328482.6A CN109910017B (en) | 2019-04-23 | 2019-04-23 | Detection/tool changing robot suitable for shield and use method thereof |
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|---|---|---|---|
| CN201910328482.6A CN109910017B (en) | 2019-04-23 | 2019-04-23 | Detection/tool changing robot suitable for shield and use method thereof |
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| CN109910017B CN109910017B (en) | 2023-12-22 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110685706A (en) * | 2019-10-31 | 2020-01-14 | 中铁工程装备集团有限公司 | Shield constructs quick-witted robot tool changing experimental apparatus |
| CN111691891A (en) * | 2020-06-30 | 2020-09-22 | 中国铁建重工集团股份有限公司 | Tool changing device for replacing hob of shield machine |
| CN112324449A (en) * | 2020-11-30 | 2021-02-05 | 中建八局轨道交通建设有限公司 | Cutter conveying device and method for changing cutter of shield machine |
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| CN110685706B (en) * | 2019-10-31 | 2021-11-19 | 中铁工程装备集团有限公司 | Shield constructs quick-witted robot tool changing experimental apparatus |
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| CN112324449A (en) * | 2020-11-30 | 2021-02-05 | 中建八局轨道交通建设有限公司 | Cutter conveying device and method for changing cutter of shield machine |
| CN112324449B (en) * | 2020-11-30 | 2022-05-27 | 中建八局轨道交通建设有限公司 | Cutter conveying device and method for changing cutter of shield machine |
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