CN109910017B - Detection/tool changing robot suitable for shield and use method thereof - Google Patents
Detection/tool changing robot suitable for shield and use method thereof Download PDFInfo
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- CN109910017B CN109910017B CN201910328482.6A CN201910328482A CN109910017B CN 109910017 B CN109910017 B CN 109910017B CN 201910328482 A CN201910328482 A CN 201910328482A CN 109910017 B CN109910017 B CN 109910017B
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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
- 239000000725 suspension Substances 0.000 claims abstract description 11
- 230000002159 abnormal effect Effects 0.000 claims description 14
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 7
- 230000001351 cycling effect Effects 0.000 claims description 3
- 210000000078 claw Anatomy 0.000 claims 1
- 230000009193 crawling Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 8
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 6
- 238000010276 construction Methods 0.000 description 6
- 239000012636 effector Substances 0.000 description 3
- 229910052742 iron Inorganic materials 0.000 description 3
- 238000009933 burial Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000005294 ferromagnetic effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
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Abstract
The invention discloses a detection/tool changing robot suitable for shield use and a use method thereof, and solves the technical problems that the existing tool detection and tool changing work mainly depends on manual operation, has large potential safety hazard and is easy to cause major safety accidents such as casualties. The invention comprises a chassis system, wherein the chassis system is provided with a cutter and a suspension bracket, and the suspension bracket is provided with an end actuating mechanism. According to the invention, the step change in the crawling process is realized through the movable legs on the chassis system of the detection/tool changing robot, so that the detection/tool changing robot moves back and forth and left and right on the cutterhead and reaches any position on the cutterhead; the tool to be replaced is detected by a detector carried by the detection/tool changing robot and the robot tool is changed.
Description
Technical Field
The invention relates to the field of tunnel construction, in particular to a detection/tool changing robot suitable for shield use and a use method thereof.
Background
The cutter is consumed and replaced frequently in the construction process of the full-face heading machine, the time of the existing cutter detection and cutter replacement operation accounts for more than 10% of the tunnel construction period, the existing cutter detection and cutter replacement operation mainly depends on manual operation, the potential safety hazards of operation under construction environments such as large burial depth and high water pressure are large, and important safety accidents such as casualties are easy to occur. The international industry difficulty of difficult detection and tool changing risk has become a main factor for restricting the safety and efficiency of tunnel construction under complex geological conditions. Therefore, the tool detection and tool changing operation are imperative to be realized in an efficient and safe robot changing operation mode.
Disclosure of Invention
The invention aims to solve the technical problems that the existing tool detection and tool changing work mainly depends on manual work, has great potential safety hazard and is easy to cause serious safety accidents such as casualties, and the like, and provides a detection/tool changing robot which is efficient and quick, utilizes a robot to detect and change tools and is suitable for shield use and a use method thereof.
In order to solve the technical problems, the invention adopts the following technical scheme: the utility model provides a be suitable for detection/tool changing robot that shield constructs used, includes chassis system, chassis system on be equipped with cutter and suspension support, suspension support on be equipped with end actuating mechanism.
The chassis system is provided with a cutter clamp, and the cutter is connected with the chassis system through the cutter clamp.
The chassis system comprises a supporting frame, wherein racks and sliding grooves are arranged on the outer side of the supporting frame, and a plurality of moving legs are matched with the racks; at least three moving legs are arranged on each rack.
The support frame is a square frame, racks are arranged on the periphery of the square frame, three moving legs are arranged on each rack, the three moving legs on the rack on the front side of the support frame are respectively an IV moving leg, a V moving leg and a VI moving leg, and the racks on the rear side of the support frame are symmetrically arranged with the racks on the front side of the support frame; the three moving legs on the rack on the right side of the supporting frame are respectively a moving leg I, a moving leg II and a moving leg III, and the rack on the left side of the supporting frame is symmetrically arranged with the rack on the right side of the supporting frame.
The movable leg comprises an upper supporting leg and a lower supporting leg, the lower supporting leg is sleeved in the upper supporting leg, and the lower supporting leg is a telescopic supporting leg; the upper end of the upper supporting leg is provided with a gear, a motor is arranged in cooperation with the gear, and a sliding block is arranged on one side of the upper supporting leg; the gear is connected with the rack in a meshed manner, and the sliding block is matched with the sliding groove.
The lower end of the lower supporting leg is provided with an electromagnet sheet.
The bottom of the supporting frame is provided with a sensor or a camera or a high-pressure water pipe.
The tail end executing mechanism comprises a parallel platform, wherein the upper part of the parallel platform is connected with the suspension bracket, and the lower part of the parallel platform is provided with a number I oil cylinder, a clamping gripper and a number II oil cylinder; the clamping jaw comprises a number I clamp gripper and a number II clamp gripper which are connected in a hinged manner; the upper end of the I-shaped oil cylinder, the upper end of the II-shaped oil cylinder and the upper end of the II-shaped clamp gripper are respectively hinged with the parallel platform, the lower end of the I-shaped oil cylinder is hinged with the I-shaped clamp gripper, and the lower end of the II-shaped oil cylinder is hinged with the II-shaped clamp gripper.
The application method of the detection/tool changing robot suitable for the shield is characterized by comprising the following steps of: (1) detecting a cutter: the chassis system of the detection/tool changing robot detects a tool by using a sensor while moving on a cutter head; (2) abnormal cutter disassembly: when the sensor detects that the cutter on the cutter disc is abnormal and needs to be changed, the abnormal cutter is disassembled by matching the upper end of the No. I oil cylinder, the No. II oil cylinder, the No. clamp gripper and the No. clamp gripper in the tail end executing mechanism; (3) installing a new cutter: and (3) installing a new cutter carried on the chassis system to the position from which the abnormal cutter is detached in the step (2) by the end execution mechanism, and completing replacement of the cutter.
The movement of the chassis system of the detection/tool changing robot on the cutter head in the step (1) comprises back-and-forth movement and left-and-right movement, and the forward movement comprises the following steps: a. in the initial state, the moving legs I, II and III are respectively distributed at the rear end, middle and front end of the right rack.
b. The right rack drives the chassis system to walk forward and semi-walk: the lower support legs of the II moving leg and the III moving leg extend out to serve as supporting legs, the lower support leg of the I moving leg is retracted, gears of the II moving leg and the III moving leg are controlled to rotate, gears of the I moving leg do not rotate, so that the gears of the II moving leg and the III moving leg rotate to drive a right rack to move forward for half a step, and the right rack moves to drive the I moving leg to move forward to be adjacent to the II moving leg, and further the first half walking of a chassis system is achieved;
c. step II, moving the leg forward: after the chassis system moves forwards for half a step, the moving legs I and II are positioned at the rear end of the right rack, the moving leg III is positioned in the middle of the right rack, at the moment, the lower support legs of the moving legs I and III extend out to serve as supporting legs, the lower support legs of the moving legs II retract, gears of the moving legs I and III are controlled not to rotate, the gears of the moving legs II rotate, so that the right rack is not moved, and the moving legs II move forwards relative to the rack to be adjacent to the moving legs III, so that the forward step changing of the moving legs II is realized;
d. step III, moving the leg forward: after the step C is finished, the moving leg II is positioned at the rear end of the right rack, the moving leg II and the moving leg III are positioned in the middle of the right rack, at the moment, the lower supporting legs of the moving leg I and the moving leg II extend out to serve as supporting legs, the lower supporting legs of the moving leg III retract, gears of the moving leg I and the moving leg II are controlled not to rotate, the gears of the moving leg III rotate, and therefore the right rack is not moved, the moving leg III moves forwards relative to the rack to the front end of the right rack, and the forward step change of the moving leg III is realized;
e. and d, after the step forward of the moving leg III is realized, three moving legs on the right rack return to the initial state in the step a, and the forward walking of the detection/tool changing robot can be realized by cycling the steps b-d.
According to the invention, the step change in the crawling process is realized through the movable legs on the chassis system of the detection/tool changing robot, so that the detection/tool changing robot moves back and forth and left and right on the cutterhead and reaches any position on the cutterhead; the tool to be replaced is detected by the detector carried by the detection/tool changing robot, and the robot tool is changed, so that the potential safety hazard is reduced under construction environments such as large burial depth and high water pressure without manual reentry, and the tool detection and tool changing operation is realized in a high-efficiency and safe robot tool changing operation mode.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic diagram of the chassis system of the present invention;
FIG. 3 is a schematic view of the bottom structure of the chassis system of the present invention;
FIG. 4 is a schematic view of the structure of the mobile leg of the present invention;
FIG. 5 is a schematic diagram of an end effector of the present invention;
FIG. 6 is a schematic view showing the structure of the detection/tool changing robot in an initial state when moving;
FIG. 7 is a schematic diagram of a detection/tool changing robot of the present invention moving;
FIG. 8 is a second schematic diagram of the detection/tool changing robot of the present invention moving;
FIG. 9 is a third schematic diagram of the detection/tool changing robot of the present invention moving;
FIG. 10 is a schematic diagram of a detection/tool changing robot of the present invention moving;
FIG. 11 is a schematic diagram of a detection/tool changing robot according to the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1 to 11, a detection/tool changing robot suitable for shield use comprises a chassis system 1, wherein a cutter 2 and a suspension bracket 101 are arranged on the chassis system 1, and an end actuating mechanism 3 is arranged on the suspension bracket 101.
The chassis system 1 is provided with a cutter clamp 102, and the cutter 2 is connected with the chassis system 1 through the cutter clamp 102. The cutter fixture 102 is provided with a groove, the cutter 2 is a hob, and cutter shafts at two ends of the hob cutter are clamped in the groove of the cutter fixture 102.
The chassis system 1 comprises a supporting frame 1011, wherein a rack 103 and a chute 1012 are arranged on the outer side of the supporting frame 1011, and a plurality of moving legs are matched with the rack 103; at least three moving legs are provided on each rack 103.
The supporting frame 1011 is a square frame, racks 103 are arranged on the periphery of the square frame, three moving legs are arranged on each rack 103, the three moving legs on the racks 103 on the front side of the supporting frame 1011 are respectively an IV moving leg 108, a V moving leg 109 and a VI moving leg 1010, and the racks 103 on the rear side of the supporting frame 1011 are symmetrically arranged with the racks on the front side of the supporting frame; the three moving legs on the rack 103 on the right side of the supporting frame 1011 are respectively a moving leg 105 of the number I, a moving leg 106 of the number II and a moving leg 107 of the number III, and the rack 103 on the left side of the supporting frame 1011 is symmetrically arranged with the rack on the right side thereof. The number of the movable legs is set according to the size and the weight of the supporting frame, so that the number of the movable legs in a weighing and extending state can bear the load on the supporting frame; the present invention is illustrated with three moving legs provided on each rack 103.
The movable leg comprises an upper supporting leg 1051 and a lower supporting leg 1052, the lower supporting leg 1052 is sleeved in the upper supporting leg 1051, and the lower supporting leg 1052 is a telescopic supporting leg; the upper end of the upper supporting leg 1051 is provided with a gear 1051, a motor is arranged in cooperation with the gear 1051, and a sliding block 1054 is arranged on one side of the upper supporting leg 1051; the gear 1051 is engaged with the rack 103, and the sliding block 1054 is matched with the sliding slot 1012. The invention is characterized in that a motor is correspondingly arranged on each gear on each movable leg, and the rotation and stop of the gears are controlled by the start and stop of the motor; when the travelling mechanism is used, the travelling legs are fixed on the cutterhead, and the sliding blocks 1054 move in the sliding grooves 1012 along with the rack transmission to drive the chassis system to move, so that the travelling of the chassis system is realized. The upper end of the upper supporting leg 1051 is connected with the upper end inside the upper supporting leg 1051 through a telescopic cylinder, so that the relative movement can be realized.
The lower end of the lower leg 1052 is provided with an electromagnet plate 1056. When the electromagnetic iron sheet is arranged and electrified, the electromagnetic iron sheet is adsorbed on the cutterhead under the action of electromagnetic and ferromagnetic force, so that the travelling of the electromagnetic iron sheet on the cutterhead in the vertical direction is realized.
The bottom of the supporting frame 1011 is provided with a sensor 104 or a camera or a high-pressure water pipe. The sensor can be various sensors, such as an eddy current sensor, a camera, a high-pressure water pipe and the like, when the eddy current sensor detects that the cutter is abnormal, the detecting/cutter changing robot stretches out, the abnormal cutter is flushed and photographed by adopting the high-pressure water pipe carried by the detecting/cutter changing robot, and whether the cutter needs to be changed or not is judged according to the picture.
The end effector 3 comprises a parallel platform 301, wherein the upper part of the parallel platform 301 is connected with the suspension bracket 101, and the lower part of the parallel platform 301 is provided with an I-type oil cylinder 302, a clamping gripper and an II-type oil cylinder 305; the clamping jaw comprises a number I clamp gripper 303 and a number II clamp gripper 304 which are connected in a hinged manner; the upper end of the I-shaped oil cylinder 302, the upper end of the II-shaped oil cylinder 305 and the upper end of the II-shaped clamp gripper 304 are respectively hinged with the parallel platform 301, the lower end of the I-shaped oil cylinder 302 is hinged with the I-shaped clamp gripper 303, and the lower end of the II-shaped oil cylinder 305 is hinged with the II-shaped clamp gripper 304. The clamping gripper is an arc gripper, a slot is reserved in the middle of the arc gripper, a hob cutter head is clamped in the slot of the arc gripper, two sides of the slot of the arc gripper are respectively clamped on the cutter shoulders of the hob, and the loosening and tightening of the clamping jaw on the hob are realized through the control of the oil cylinder I302 and the oil cylinder II 305. The parallel platform of the invention adopts a six-degree-of-freedom parallel platform.
The application method of the detection/tool changing robot suitable for the shield is characterized by comprising the following steps of: (1) detecting a cutter: the chassis system 1 of the detection/tool changing robot detects the tool by the sensor 104 while moving on the cutterhead; (2) abnormal cutter disassembly: when the sensor 104 detects that the cutter on the cutter disc is abnormal and needs to be changed, the abnormal cutter is disassembled by matching the upper end of the No. I oil cylinder 302, the upper end of the No. II oil cylinder 305, the No. 1 clamp gripper 303 and the No. 2 clamp gripper 304 in the end executing mechanism 3; (3) installing a new cutter: the end effector 3 mounts a new tool 2 carried on the chassis system 1 to the position from which the abnormal tool was removed in step (2), and completes the replacement of the tool.
The movement of the chassis system 1 of the detection/tool changing robot on the cutterhead in the step (1) includes back-and-forth movement and left-and-right movement, and the forward movement includes the following steps: a. in the initial state, the moving leg 105, the moving leg 106 and the moving leg 107 are respectively distributed at the rear end, the middle and the front end of the right rack; as shown in fig. 6.
b. The right rack drives the chassis system 1 to walk forward in half steps: the lower legs of the II moving leg 106 and the III moving leg 107 extend out to serve as supporting legs, the lower leg of the I moving leg 105 is retracted, as shown in fig. 6, gears of the II moving leg 106 and the III moving leg 107 are controlled to rotate, gears of the I moving leg 105 are not rotated, so that gears of the II moving leg 106 and the III moving leg 107 rotate to drive a right rack to move forward for half a step, and the right rack moves to drive the I moving leg 105 to move forward to be adjacent to the II moving leg 106, so that the first half step of the chassis system 1 is realized; as shown in fig. 7;
c. moving leg number II 106 steps forward: after the chassis system 1 in the step b moves forward for half a step, the moving legs 105 and 106 are positioned at the rear end of the right rack, the moving leg 107 is positioned in the middle of the right rack, as shown in fig. 7, at this time, the lower legs of the moving legs 105 and 107 are extended to serve as supporting legs, the lower leg of the moving leg 106 is retracted, as shown in fig. 8, the gears of the moving legs 105 and 107 are controlled not to rotate, the gears of the moving leg 106 are controlled to rotate, so that the right rack is not moved, the moving leg 106 moves forward relative to the rack to be adjacent to the moving leg 107, as shown in fig. 9, and the forward step change of the moving leg 106 is realized;
d. the moving leg 107 steps forward: after the step-forward shifting of the moving leg No. II 106 in the step c is completed, the moving leg No. I105 is located at the rear end of the right rack, the moving legs No. II 106 and No. III 107 are located in the middle of the right rack, at this time, the lower legs of the moving legs No. I105 and No. II 106 are extended to serve as supporting legs, the lower legs of the moving leg No. III 107 are retracted, as shown in fig. 10, the gears of the moving legs No. I105 and No. II 106 are controlled not to rotate, the gears of the moving leg No. III 107 are controlled to rotate, so that the right rack is not moved, the moving leg No. III 107 moves forward to the front end of the right rack relative to the rack, as shown in fig. 11, and the step-forward shifting of the moving leg No. III 107 is realized;
e. after the step forward of the moving leg 107 of the III is realized in the step d, the three moving legs on the right rack return to the initial state described in the step a, and the forward walking of the detection/tool changing robot can be realized by cycling the steps b to d.
The moving legs arranged at symmetrical positions in the moving process in the steps a-e of the invention all make synchronous actions. The length of one right-hand chain of the present invention is the length of one step of forward movement of the chassis system 1, and the length of half right-hand chain is the length of half forward movement.
When the invention moves forwards and backwards, the moving legs at the front side and the rear side of the detection/tool changing robot are in a retracted state, so that the forward and backward movement of the detection/tool changing robot is not influenced; when moving left and right, the moving legs on the left side and the right side of the detection/tool changing robot are in a retracted state, so that the left and right movement of the detection/tool changing robot is not influenced; the invention detects the backward, leftward and rightward walking process of the tool changing robot and the forward walking process, and simultaneously, the invention can also add a rotating mechanism on the chassis system 1 to realize the steering function.
Claims (7)
1. The utility model provides a be suitable for detection/tool changing robot that shield constructs used which characterized in that: the automatic cutting machine comprises a chassis system (1), wherein a cutter (2) and a suspension bracket (101) are arranged on the chassis system (1), and an end actuating mechanism (3) is arranged on the suspension bracket (101);
the chassis system (1) comprises a supporting frame (1011), wherein a rack (103) and a chute (1012) are arranged on the outer side of the supporting frame (1011), and a plurality of moving legs are arranged in cooperation with the rack (103);
the support frame (1011) is a square frame, racks (103) are arranged on the periphery of the square frame, three moving legs are arranged on each rack (103), the three moving legs on the racks (103) on the front side of the support frame (1011) are respectively IV moving legs (108), V moving legs (109) and VI moving legs (1010), and the racks (103) on the rear side of the support frame (1011) are symmetrically arranged with the racks on the front side of the support frame; the three moving legs on the rack (103) on the right side of the supporting frame (1011) are respectively a moving leg (105) of the I number, a moving leg (106) of the II number and a moving leg (107) of the III number, and the rack (103) on the left side of the supporting frame (1011) is symmetrically arranged with the rack on the right side of the supporting frame;
the movable leg comprises an upper supporting leg (1051) and a lower supporting leg (1052), the lower supporting leg (1052) is sleeved in the upper supporting leg (1051), and the lower supporting leg (1052) is a telescopic supporting leg; the upper end of the upper supporting leg (1051) is provided with a gear, a motor is matched with the gear, and a sliding block (1054) is arranged on one side of the upper supporting leg (1051); the gear is connected with the rack (103) in a meshed manner, and the sliding block (1054) is matched with the sliding groove (1012);
the application method of the detection/tool changing robot suitable for shield use comprises the following steps: the movement of the chassis system (1) of the detection/tool changing robot on the cutter head in the step (1) comprises back-and-forth movement and left-and-right movement, and the forward movement comprises the following steps: a. in an initial state, the I moving leg (105), the II moving leg (106) and the III moving leg (107) are respectively distributed at the rear end, the middle and the front end of the right rack;
b. the right rack drives the chassis system (1) to walk forward in half steps: the lower support legs of the II moving leg (106) and the III moving leg (107) extend out to serve as supporting legs, the lower support leg of the I moving leg (105) is retracted, gears of the II moving leg (106) and the III moving leg (107) are controlled to rotate, gears of the I moving leg (105) are not rotated, so that the gears of the II moving leg (106) and the III moving leg (107) rotate to drive a right rack to move forwards for half a step, and the right rack moves to drive the I moving leg (105) to move forwards to be adjacent to the II moving leg (106), so that the chassis system (1) walks in the first half a step;
c. moving leg number II (106) step forward: after the chassis system (1) moves forwards for half a step, the No. I moving leg (105) and the No. II moving leg (106) are positioned at the rear end of the right rack, the No. III moving leg (107) is positioned in the middle of the right rack, at the moment, the lower legs of the No. I moving leg (105) and the No. III moving leg (107) extend out to serve as supporting legs, the lower legs of the No. II moving leg (106) retract, gears of the No. I moving leg (105) and the No. III moving leg (107) are controlled not to rotate, the gears of the No. II moving leg (106) rotate, so that the right rack is not moved, and the No. II moving leg (106) moves forwards relative to be adjacent to the No. III moving leg (107), so that forward step changing of the No. II moving leg (106) is realized;
d. moving leg III (107) step forward: after the step (c) is finished, the moving leg (106) II is positioned at the rear end of the right rack, the moving leg (106) II and the moving leg (107) III are positioned in the middle of the right rack, at the moment, the lower legs of the moving leg (105) I and the moving leg (106) II extend out to serve as supporting legs, the lower legs of the moving leg (107) III retract, gears of the moving leg (105) I and the moving leg (106) II are controlled not to rotate, the gears of the moving leg (107) III rotate, so that the right rack is not moved, the moving leg (107) III moves forwards relative to the rack to the front end of the right rack, and forward step changing of the moving leg (107) III is realized;
e. and d, after the step of forward changing of the III moving leg (107) is realized, three moving legs on the right rack return to the initial state in the step a, and the forward walking of the detection/tool changing robot can be realized by cycling the steps b-d.
2. The detection/tool changing robot adapted for shield use of claim 1, wherein: the chassis system (1) is provided with a cutter clamp (102), and the cutter (2) is connected with the chassis system (1) through the cutter clamp (102).
3. The detection/tool changing robot adapted for shield use of claim 1, wherein: at least three moving legs are arranged on each rack (103).
4. The detection/tool changing robot adapted for shield use of claim 1, wherein: the lower end of the lower supporting leg (1052) is provided with an electromagnet sheet (1056).
5. A detection/tool changing robot adapted for shield use according to claim 3, wherein: the bottom of the supporting frame (1011) is provided with a sensor (104) or a camera or a high-pressure water pipe.
6. The detection/tool changing robot adapted for shield use of claim 1, wherein: the tail end executing mechanism (3) comprises a parallel platform (301), wherein the upper part of the parallel platform (301) is connected with the suspension bracket (101), and the lower part of the parallel platform is provided with an I-shaped oil cylinder (302), a clamping claw and an II-shaped oil cylinder (305); the clamp gripper comprises a clamp gripper I (303) and a clamp gripper II (304) which are connected in a hinged manner; the upper end of the I-shaped oil cylinder (302), the upper end of the II-shaped oil cylinder (305) and the upper end of the II-shaped clamp gripper (304) are respectively hinged with the parallel platform (301), the lower end of the I-shaped oil cylinder (302) is hinged with the I-shaped clamp gripper (303), and the lower end of the II-shaped oil cylinder (305) is hinged with the II-shaped clamp gripper (304).
7. A method of using a detection/tool changing robot adapted for shield use according to any one of claims 1-6, comprising the steps of: (1) detecting a cutter: the chassis system (1) of the detection/tool changing robot detects a tool by using a sensor (104) while moving on a cutter head; (2) abnormal cutter disassembly: when the sensor (104) detects that the cutter on the cutter head is abnormal and needs to be changed, the abnormal cutter is disassembled by matching the upper end of the No. I oil cylinder (302), the No. II oil cylinder (305) and the No. I clamp gripper (303) in the end executing mechanism (3) with the No. II clamp gripper (304); (3) installing a new cutter: and (3) the end actuating mechanism (3) is used for installing a new cutter (2) carried on the chassis system (1) to the position where the abnormal cutter is detached in the step (2) so as to finish the replacement of the cutter.
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| Application Number | Priority Date | Filing Date | Title |
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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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| CN109910017A CN109910017A (en) | 2019-06-21 |
| CN109910017B true CN109910017B (en) | 2023-12-22 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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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 |
| CN111691891B (en) * | 2020-06-30 | 2022-04-29 | 中国铁建重工集团股份有限公司 | Tool changing device for replacing hob 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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