CN109989763A - A kind of rock tunnel(ling) machine detection tool changing robot and its application method - Google Patents
A kind of rock tunnel(ling) machine detection tool changing robot and its application method Download PDFInfo
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- CN109989763A CN109989763A CN201910348721.4A CN201910348721A CN109989763A CN 109989763 A CN109989763 A CN 109989763A CN 201910348721 A CN201910348721 A CN 201910348721A CN 109989763 A CN109989763 A CN 109989763A
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- mechanical arm
- tool changing
- snap
- gauge
- robot
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- 238000001514 detection method Methods 0.000 title claims abstract description 46
- 239000011435 rock Substances 0.000 title claims abstract description 27
- 238000000034 method Methods 0.000 title claims abstract description 24
- 239000012636 effector Substances 0.000 claims abstract description 31
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 28
- 239000003921 oil Substances 0.000 claims description 14
- 239000007921 spray Substances 0.000 claims description 8
- 238000007689 inspection Methods 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 3
- 239000010720 hydraulic oil Substances 0.000 claims description 2
- 230000008450 motivation Effects 0.000 claims description 2
- 238000012544 monitoring process Methods 0.000 abstract description 5
- 239000007937 lozenge Substances 0.000 description 25
- 238000010586 diagram Methods 0.000 description 14
- 238000010276 construction Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 238000009412 basement excavation Methods 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 238000012806 monitoring device Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000005641 tunneling Effects 0.000 description 1
- 230000004580 weight loss Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/06—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining
- E21D9/08—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining with additional boring or cutting means other than the conventional cutting edge of the shield
Abstract
The invention discloses a kind of rock tunnel(ling) machine detection 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 tunnel piercing machine host, and tunnel piercing machine host is equipped with robot storehouse, is equipped with detection tool changing robot and girff in robot storehouse；The detection tool changing robot includes pedestal, has been connected mechanical arm with pedestal, mechanical arm tail end is equipped with end effector.The present invention will test tool changing robot and be arranged on development machine, when there is damage, eccentric wear in hobboing cutter, accomplish the timely replacement to hobboing cutter by detecting tool changing robot, traditional artificial tool changing work pattern is become to " machine substitute human labor " work pattern of highly effective and safe, security risk is reduced, drivage efficiency is improved.
Description
Technical field
The present invention relates to constructing tunnel fields, and in particular to a kind of rock tunnel(ling) machine detection tool changing robot and its use
Method.
Background technique
Cutter consumption is big in full face tunnel boring machine work progress, replaces frequently, and Tool monitoring and tool changing activity duration account for tunnel
10% or more of road construction period, existing Tool monitoring and tool changing work rely primarily on manual work, and great burying, high hydraulic pressure etc. are applied
Operation safety hidden danger is big under work environment, the serious accidents such as casualties easily occurs.According to statistics, nearly 70% constructing tunnel peace
Full accident is all directly related with artificial tool changing operation, and it is complicated that the international industry problems of " detection is difficult, tool changing is dangerous " have become restriction
The bottleneck of safety for tunnel engineering and efficiency under geological conditions.The market demand pair in the tunnels such as current huge subway, highway, railway
More stringent requirements are proposed for the construction efficiency of full advance equipment and safety.Therefore, with " machine substitute human labor " of highly effective and safe
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 greatly, the serious accidents such as casualties easily occur, " machine substitute human labor " work pattern for providing a kind of highly effective and safe realizes knife
Rock tunnel(ling) machine detection tool changing robot and its application method of tool detection and tool changing operation.
In order to solve the above technical problems, the present invention adopts the following technical solutions: a kind of rock tunnel(ling) machine detection tool changing machine
Device people, including tunnel piercing machine host, tunnel piercing machine host are equipped with robot storehouse, detection tool changing machine are equipped in robot storehouse
Device people and girff；The detection tool changing robot includes pedestal, has been connected mechanical arm with pedestal, mechanical arm tail end is equipped with end
Hold actuator.
Sliding rail and upper layer track are equipped in the robot storehouse, the pedestal of detection tool changing robot is arranged on the slide rail,
Girff is arranged on the track of upper layer；Robot storehouse is equipped with robot storehouse gate close to the side of the cutterhead of rock tunnel(ling) machine.
The mechanical arm be series-parallel connection mechanical arm, the series-parallel connection mechanical arm include several simple joint mechanical arms and
Several parallel mechanical arms.
The simple joint mechanical arm includes the mechanical arm I, mechanical arm II, mechanical arm III, mechanical arm being sequentially connected in series
IV, mechanical arm V, the mechanical arm V are connect with parallel mechanical arm, and described one end mechanical arm I is hinged on pedestal, the other end
It is articulated and connected with mechanical arm II；Driving III is respectively equipped between mechanical arm I and pedestal, between mechanical arm II and pedestal；Mechanical arm
The one end III and mechanical arm IV are hinged, the other end slides to form telescopic arm along the inner cavity of mechanical arm II；Mechanical arm V is hinged on machinery
On arm IV；It is connected in series between adjacent parallel mechanical arm.
The end effector includes clamping device, and clamping device is equipped with chuck and turns mechanism, the clamping machine
Structure is driven by hydraulic cylinder, and chuck turns mechanism and driven by hydraulic motor.
Hydraulic spray and vision system are additionally provided on the end effector.
The clamping device includes mounting plate, and mounting plate is equipped with finger sliding rail, and mounting plate lower part is equipped with mobile finger
And fixed finger, fixed finger is fixed on a mounting board, and mobile finger is slidably connected by finger sliding rail with mounting plate, hydraulic oil
The pedestal of cylinder is fixed on a mounting board, and the piston rod of hydraulic cylinder is connect with mobile finger.
It includes chuck and snap-gauge that the chuck, which turns mechanism, and hydraulic motor is fixed on mounting plate top, hydraulic motor
Output shaft passes through mounting plate and connect with chuck, and snap-gauge is arranged on the lower surface of chuck.
The snap-gauge includes I snap-gauge and II snap-gauge, and I snap-gauge and II snap-gauge are symmetrical arranged on chuck.
It is described to turn mechanism with chuck and match equipped with tooling system, the tooling system be equipped with I snap-gauge and
III snap-gauge that II snap-gauge matches, IV snap-gauge.
A kind of application method of rock tunnel(ling) machine detection tool changing robot, it is characterised in that the following steps are included: 1. needing
When detecting tool changing robot suspicious hobboing cutter being detected and replaced, detection tool changing robot storehouse gate is opened, and detects tool changing
The sliding of Robot sliding rail, and it is protruding from robot storehouse gate；
2. the hydraulic spray detected on the end effector in tool changing robot carries out spraying-rinsing to suspicious hobboing cutter；
3. further being watched by the vision system on end effector to suspicious hobboing cutter；
4. check that determining suspicious hobboing cutter needs replacing through vision system, machine is turned by the clamping device and chuck of end effector
Structure cooperation carries out replacement hobboing cutter；Check that detection tool changing robot is returned when determining that suspicious hobboing cutter does not need replacement through vision system
Robot storehouse.
The step process that 4. end effector replaces hobboing cutter includes dismantling the process of tooling system, is specifically included following
Step: a, remove cutter lock portion: first by chuck turn I snap-gauge in mechanism and II snap-gauge respectively with cutter lock
III snap-gauge and IV snap-gauge in tight mechanism match, and are rotated by hydraulic motor and drive chuck rotation that cutter is made to lock machine
I sliding block and II sliding block retract at the same time in sliding slot in structure, then using on clamping device in end effector I oil cylinder and
II oil cylinder forms No. I mobile finger with I fixed finger formation cooperation handgrip, No. II mobile finger and II fixed finger
Cooperate handgrip, and fixture block and is split out in inside clamping tool lock system simultaneously；B, tool parts are removed: passing through end first
I oil cylinder and II oil cylinder on the actuator clamping device of end make No. I mobile finger and I fixed finger, No. II mobile finger
Cooperation handgrip is formed with II fixed finger, and the cutter shaft seat in outside stretching cutter simultaneously, rotary cutter utilize handgrip by knife
Tool extraction.
The step process that 4. end effector replaces hobboing cutter includes installing the process of tooling system, is specifically included following
Step: a, installation cutter: the clamping device in end effector props up the cutter shaft seat in cutter outward and is made by rotary cutter
Its clamping knife cylinder；
B, tool lock system is installed: using the fixture block in the inside clamping tool lock system of clamping device and putting it into knife cylinder
It is interior, III snap-gauge and No. IV card in mechanism in I snap-gauge and II snap-gauge and tool lock system are finally turned using chuck
Plate matches, and drives chuck to turn mechanism rotation to make the I sliding block in tool lock system and No. II by hydraulic motor
Sliding block stretches out simultaneously to be inserted into knife cylinder, and the locking state of tooling system is reached with this.
The present invention will test tool changing robot and be arranged on development machine, when damage, eccentric wear occurs in hobboing cutter, pass through
The timely replacement to hobboing cutter is accomplished by detection tool changing robot, and traditional artificial tool changing work pattern is become to " the machine of highly effective and safe
Device is substituted " work pattern, security risk is reduced, drivage efficiency is improved.
Detailed description of the invention
Fig. 1 is the structural schematic diagram that the present invention is matched with development machine；
Fig. 2 is present invention detection tool changing robot architecture schematic diagram；
Fig. 3 is end effector structures schematic diagram of the present invention；
Fig. 4 is clamping device structural schematic diagram of the present invention；
Fig. 5 is that chuck of the present invention turns mechanism structure schematic diagram；
Fig. 6 is tooling system structural schematic diagram of the present invention；
Fig. 7 is cutter structure schematic diagram of the present invention；
Fig. 8 is tool lock system structural schematic diagram of the present invention；
Fig. 9 is the broken section structural schematic diagram that cutter of the present invention is matched with knife cylinder；
Figure 10 is cutter shaft holder structure schematic diagram of the present invention；
Figure 11 is knife cylinder schematic diagram of internal structure of the present invention；
Figure 12 is the broken section structural schematic diagram that knife cylinder of the present invention, cutter, tool lock system match；
Figure 13 is the structural schematic diagram of clamping tool lock system state of the present invention；
Figure 14 is the structural schematic diagram of clamping tooling system state of the present invention.
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 Figures 1 to 5, a kind of rock tunnel(ling) machine detection tool changing robot, including tunnel piercing machine host, tunnel
It tunnels machine host and is equipped with robot storehouse 9, be equipped with detection tool changing robot 1 and girff 904 in robot storehouse 9；The detection
Tool changing robot 1 includes pedestal 101, has been connected mechanical arm with pedestal 101, mechanical arm tail end is equipped with end effector.
Sliding rail 91 and upper layer track 92 are equipped in the robot storehouse 9, the pedestal 101 of detection tool changing robot 1 is arranged
On sliding rail 91, girff 904 is arranged on upper layer track 92；Robot storehouse 9 is set close to the side of the cutterhead 907 of rock tunnel(ling) machine
There is robot storehouse gate 905.The detection tool changing robot 1 can be moved on the sliding rail in robot storehouse；In girff 904
It equipped with hobboing cutter, is mounted on the upper layer track in robot storehouse, the storage and transport of cutter can be carried out；Robot storehouse gate
905 are mounted on robot storehouse close to the side of cutterhead 907, carry out the waterproof and pressure maintaining in muddy water storehouse；Main 906 control cutterhead of driving
907 rotation is mounted on the rear side of cutterhead 907 to carry out the excavation in tunnel.
The mechanical arm be series-parallel connection mechanical arm, the series-parallel connection mechanical arm include several simple joint mechanical arms and
Several parallel mechanical arms.Between adjacent simple joint mechanical arm, between simple joint mechanical arm and parallel mechanical arm, adjacent parallel machine
It is to be connected in series between tool arm, the simple joint mechanical arm of series-parallel connection mechanical arm and the order of connection of parallel mechanical arm can be mutual
It changes, such as can be arranged in a crossed manner, it can also be respectively set, form the mechanical arm with series and parallel structure.Series-parallel machine of the invention
Tool arm is connect again with the parallel mechanical arm that several are sequentially connected in series after several simple joint mechanical arms are connected in series.
The simple joint mechanical arm includes the mechanical arm I102 being sequentially connected in series, mechanical arm II103, mechanical arm
III104, mechanical arm IV105, mechanical arm V106, the mechanical arm V106 are connect with parallel mechanical arm 107, the machinery
The one end arm I102 is hinged on pedestal 101, the other end and mechanical arm II103 are articulated and connected；Mechanical arm I102 and pedestal 101 it
Between, driving III1014 is respectively equipped between mechanical arm II103 and pedestal 101；The one end mechanical arm III104 and mechanical arm IV105
Hingedly, the other end slides to form telescopic arm along the inner cavity of mechanical arm II103；Mechanical arm V106 is hinged on mechanical arm IV105；Phase
It is connected in series between adjacent parallel mechanical arm 107.Driving III1014 is hydraulic cylinder；Pedestal in the detection tool changing robot 1
101 can be slided on the slide rail；Mechanical arm I102 is hinged on pedestal 101, can be swung；Mechanical arm II103 hinge
It connects on mechanical arm 1102, can be rotated around hinged place；The one end mechanical arm III104 and mechanical arm IV105 be hinged, other end edge
It slides to form telescopic arm in the inner cavity of mechanical arm II103；Mechanical arm V106 is hinged on mechanical arm IV105, can be turned around hinged place
It is dynamic；Parallel mechanical arm 107 is connected on mechanical arm V106, and multiple parallel mechanical arms form joint series form, is convenient for machine
People's operation under small space.
The end effector includes clamping device 3, and clamping device 3 is equipped with chuck and turns mechanism 2, the clamping
Mechanism 3 is driven by hydraulic cylinder 314, and chuck turns mechanism 2 and driven by hydraulic motor 201.Hydraulic cylinder according to the present invention
It can also be substituted using electric rod or air-leg, premised on not influencing implementation of the invention.
Hydraulic spray 315 and vision system 316 are additionally provided on the end effector.Match after hydraulic spray 315
There is high-pressure water pipe 312；It is furnished with connecting line 313 after vision system 316, connecting line 313 includes electric power connection line and signal wire etc..
The clamping device 3 includes mounting plate 301, and mounting plate 301 is equipped with finger sliding rail 306,301 lower part of mounting plate
It is fixed on mounting plate 301 equipped with mobile finger and fixed finger, fixed finger, mobile finger passes through finger sliding rail 306 and peace
Loading board 301 is slidably connected, and the pedestal of hydraulic cylinder is fixed on a mounting board, and the piston rod of hydraulic cylinder is connect with mobile finger.
Hydraulic cylinder of the present invention, mobile finger and fixed finger have two groups, respectively I oil cylinder 302, I mobile fingers 303 and No. I
Fixed finger 3021, II oil cylinder 304, II mobile fingers 305 and II fixed finger 3022.
It includes chuck 202 and snap-gauge that the chuck, which turns mechanism 2, and hydraulic motor is fixed on 301 top of mounting plate, hydraulic
The output shaft of motor passes through mounting plate 301 and connect with chuck 202, and snap-gauge is arranged on the lower surface of chuck 202.
The snap-gauge includes I snap-gauge 2021 and II snap-gauge 2022, and I snap-gauge 2021 and II snap-gauge 2022 are in card
It is symmetrical arranged on disk 202.I snap-gauge 2021 and II snap-gauge 2022 are matched with the fixture block on tool apron.
It is described to turn mechanism 2 with chuck and match equipped with tooling system, as shown in Fig. 6 to Figure 12, the tooling system
It is equipped with III snap-gauge 8011, the IV snap-gauge 8012 matched with I snap-gauge 2021 and II snap-gauge 2022.
Tooling system of the present invention includes knife cylinder 7, is equipped with cutter 6 in knife cylinder 7, matches with knife cylinder 7 equipped with cutter
Retaining mechanism 8 is cooperated between the cutter 6 and knife cylinder 7 by lozenges.
The tool lock system 8 includes fixture block 801, is slidably matched with fixture block 801 equipped with sliding block, sliding block is equipped with card
Disk 804, rotary shaft 803 is equipped among chuck 804, and chuck 804 is equipped with snap-gauge 806.Sliding block slides in sliding slot, chuck 804
It is rotated around rotary shaft 803；Rotary shaft 803 is fixed on fixture block 801.Snap-gauge 806 in tool lock system 8 includes No. III card
Plate 8011, IV snap-gauge 8012, respectively on end effector I snap-gauge 2021 and II snap-gauge 2022 match.It is described
Tool lock system 8 locking function in cutter 6 in knife cylinder 7 is realized by sliding block.
Knife cylinder 7 of the present invention is cylindrical drum, and the inner wall of knife cylinder 7 is equipped with bulge loop 709 and limited block 708, bulge loop 709
Limit sliding chutes 707 are formed between limited block 708.
708 side of limited block is connect with knife cylinder 7, and the other side is equipped with weight loss groove 705；On the inner wall of the knife cylinder 7 also
Equipped with clamping groove 706, the upper side of clamping groove 706 is VI lozenges 703.The sliding block of tool lock system puts in clamping groove
In 706；The bottom surface of the limit sliding chutes 707 is V lozenges 702, and the upper side of limit sliding chutes 707 is IV lozenges 701.
It is to be supported in limit sliding chutes 707 to slide that cutter, which is packed into after knife cylinder with bulge loop 709,.In use, cutter is locked machine by limited block 708
Structure is stuck in knife cylinder, prevents the mobile rotation of tool lock system.
The cutter 6 includes disk cutter 601 and cutter shaft seat 602, and the cutter shaft seat 602 is equipped with cutter shaft slot 605, disk
The cutter shaft 604 of shape hobboing cutter 601 is put in cutter shaft slot 605.
The notch of the cutter shaft slot 605 is equipped with cutter shaft seat baffle 603.Cutter shaft 604 is fixed on knife by cutter shaft seat baffle 603
On axle bed 602.
The opposite sides of the cutter shaft seat 602 is equipped with projecting block 6024, and the side of projecting block 6024 is I lozenges
6021, the top of projecting block is II lozenges 6022, and the other two sides of cutter shaft seat 602 are equipped with III lozenges 6023.It is prominent
The side of block 6024 is that I lozenges 6021 is matched with the V lozenges 702 of knife cylinder limit sliding chutes 707 out, II wedge shape
Face 6022 is that IV lozenges 701 matches with the upper side of limit sliding chutes 707.
The tool lock system 8 includes fixture block 801, is slidably matched with fixture block 801 equipped with sliding block, sliding block is equipped with card
Disk 804, rotary shaft 803 is equipped among chuck 804, and chuck 804 is equipped with snap-gauge 806.Sliding block slides in sliding slot, chuck 804
It is rotated around rotary shaft 803；Rotary shaft 803 is fixed on fixture block 801.Snap-gauge 806 in tool lock system 8 includes No. III card
Plate 8011, IV snap-gauge 8012, respectively on end effector I snap-gauge and II snap-gauge match.
The fixture block 801 is equipped with I sliding slot 807 and II sliding slot 808, and I sliding slot 807 and II sliding slot 808 are right
Claim setting, the sliding block includes I sliding block 802 and II sliding block 805, and I sliding block 802 is matched with I sliding slot 807, II
Number sliding block 805 is matched with II sliding slot 808；Chuck 804 and I sliding block 802, II sliding block 805 are by being threadedly engaged.
801 lower part of fixture block is equipped with card leg 809, and card leg 809 is equipped with VII lozenges 8011.VII lozenges
8011 match with the III lozenges 6023 on cutter shaft seat 602.
It is equipped with caking block 8010 on the outside of the sliding block, is equipped with VIII lozenges 8051 on the outside of caking block 8010.Card knot
Block 8010 is put in clamping groove, and VIII lozenges 8051 is matched with the VI lozenges 703 in clamping groove.
Cutter 6 is packed into knife cylinder 7 first when tooling system is installed, rotary cutter 6 when reaching defined position makes cutter shaft seat
V lozenges 702 is lozenges cooperation, II lozenges on cutter shaft seat 602 on I lozenges 6021 and knife cylinder 7 on 602
6022 with IV lozenges 701 on knife cylinder 7 be that lozenges cooperates, until cutter 6 is in knife cylinder 7 in gripping orientation；Then will
Tool lock system 8 is packed into knife cylinder 7, makes the VII wedge shape on the III lozenges 6023 and fixture block 601 on cutter shaft seat 602
Face 6011 forms mating surface, and tool lock system 8 is made to lock cutter 6, prevents cutter 6 from loosening；Finally by rotary chuck 804,
It moves I sliding block 802 and II sliding block 805 along the sliding slot of fixture block 801, realizes that I sliding block 802 and II sliding block 805 are same
When stretch out and be caught in the clamping groove in knife cylinder 7, as rotary shaft 803 rotates, in VIII lozenges 8051 and clamping groove
VI lozenges 703 matches, until tool lock system 8 is locked, with this reach tooling system, tool lock system 8 with
Knife cylinder is in close-fitting conjunction state always.
Tooling system of the present invention is opposite with installation process when dismantling: first by turning cutter locking when tooling system is dismantled
Chuck 804 in mechanism 8 withdraws I sliding block 802 and II sliding block 805 simultaneously, and tool lock system is taken out；Then it revolves
Rotor tool makes the matching loose of itself and knife cylinder and takes out cutter.
As shown in Figure 13 to Figure 14, a kind of application method of rock tunnel(ling) machine detection tool changing robot, including following step
It is rapid: 1. to need to detect tool changing robot when suspicious hobboing cutter is detected and replaced, detection tool changing robot storehouse gate is opened, inspection
It surveys tool changing robot 1 to slide along sliding rail, and protruding from robot storehouse gate 905；
2. the hydraulic spray 315 detected on the end effector in tool changing robot 1 carries out spraying-rinsing to suspicious hobboing cutter；
3. further being watched by the vision system 316 on end effector to suspicious hobboing cutter；
4. check that determining suspicious hobboing cutter needs replacing through vision system 316, twisted by the clamping device 3 and chuck of end effector
The cooperation of motivation structure 2 carries out replacement hobboing cutter；When checking that determining suspicious hobboing cutter does not need replacement through vision system 316, tool changing machine is detected
Device people returns to robot storehouse.
Rock tunnel(ling) machine of the present invention hobboing cutter in tunneling process can generate abrasion, and hobboing cutter is evenly equipped with monitoring device and works as on cutterhead
When damage, eccentric wear occurs in hobboing cutter, signal can be issued, detection tool changing robot of the invention is needed to roll suspicious place at this time
Knife carries out detection and replacement in time.
The step process that 4. end effector replaces hobboing cutter includes dismantling the process of tooling system, is specifically included following
Step: it a, removes cutter lock portion: I snap-gauge 2021 in mechanism 2 being turned by chuck first and II snap-gauge 2022 divides
Not in tool lock system 8 III snap-gauge 8011 and IV snap-gauge 8012 match, pass through hydraulic motor rotation drive card
The rotation of disk 202 makes I sliding block 802 and II sliding block 805 in tool lock system 8 retract at the same time in sliding slot, then utilizes end
I oil cylinder 302 and II oil cylinder 304 in actuator on clamping device 3 make No. I mobile finger 303 and I fixed finger 3011
It forms cooperation handgrip, No. II mobile finger 305 and II fixed finger 1012 and forms cooperation handgrip, and inside clamping cutter simultaneously
It fixture block 801 and is split out in retaining mechanism 8；B, tool parts are removed: first by the I on end effector clamping device 3
Number oil cylinder 302 and II oil cylinder 304 make No. I mobile finger 303 and I fixed finger 3011, II mobile fingers 305 and No. II
Fixed finger 3012 forms cooperation handgrip, and the cutter shaft seat 602 in outside stretching cutter 6 simultaneously, and rotary cutter 6 will using handgrip
Cutter 6 is extracted out.
The step process that 4. end effector replaces hobboing cutter includes installing the process of tooling system, is specifically included following
Step: a, installation cutter: the clamping device 3 in end effector props up the cutter shaft seat 602 in cutter 6 outward and passes through rotating knife
Tool 6 makes its clamping knife cylinder 7；
B, tool lock system is installed: using the fixture block in the inside clamping tool lock system 8 of clamping device 3 and putting it into knife
In cylinder 7, the III snap-gauge and IV in mechanism in I snap-gauge and II snap-gauge and tool lock system 8 are finally turned using chuck
Number snap-gauge matches, and drives chuck to turn the rotation of mechanism 2 to make the I sliding block in tool lock system 8 by hydraulic motor
It stretches out and is inserted into knife cylinder simultaneously with II sliding block, the locking state of tooling system is reached with this.
Claims (13)
1. a kind of rock tunnel(ling) machine detection tool changing robot, it is characterised in that: including tunnel piercing machine host, rock tunnel(ling) machine
Host is equipped with robot storehouse (9), and detection tool changing robot (1) and girff (904) are equipped in robot storehouse (9)；The inspection
Surveying tool changing robot (1) includes pedestal (101), has been connected mechanical arm with pedestal (101), mechanical arm tail end is executed equipped with end
Device.
2. rock tunnel(ling) machine according to claim 1 detection tool changing robot, it is characterised in that: the robot storehouse
(9) sliding rail (91) and upper layer track (92) are equipped in, the pedestal (101) of detection tool changing robot (1) is arranged on sliding rail (91),
Girff (904) is arranged on upper layer track (92)；Robot storehouse (9) is equipped with close to the side of the cutterhead (907) of rock tunnel(ling) machine
Robot storehouse gate (905).
3. rock tunnel(ling) machine according to claim 1 detection tool changing robot, it is characterised in that: the mechanical arm is
Series-parallel connection mechanical arm, the series-parallel connection mechanical arm include several simple joint mechanical arms and several parallel mechanical arms.
4. rock tunnel(ling) machine according to claim 3 detection tool changing robot, it is characterised in that: the simple joint machine
Tool arm includes the mechanical arm I(102 being sequentially connected in series), mechanical arm II(103), mechanical arm III(104), mechanical arm IV
(105), mechanical arm V(106), the mechanical arm V(106) connect with parallel mechanical arm (107), the mechanical arm I(102)
One end is hinged on pedestal (101), the other end and mechanical arm II(103) articulated connection；Mechanical arm I(102) with pedestal (101) it
Between, mechanical arm II(103) and pedestal (101) between be respectively equipped with driving III(1014)；Mechanical arm III(104) one end and mechanical
Arm IV(105) the hinged, other end slides to form telescopic arm along the inner cavity of mechanical arm II(103)；Mechanical arm V(106) it is hinged on machine
Tool arm IV(105) on；It is connected in series between adjacent parallel mechanical arm (107).
5. rock tunnel(ling) machine according to claim 1 detection tool changing robot, it is characterised in that: the end executes
Device includes clamping device (3), and clamping device (3) is equipped with chuck and turns mechanism (2), and the clamping device (3) is by hydraulic oil
Cylinder (314) driving, chuck turn mechanism (2) and are driven by hydraulic motor (201).
6. rock tunnel(ling) machine according to claim 5 detection tool changing robot, it is characterised in that: the end executes
Hydraulic spray (315) and vision system (316) are additionally provided on device.
7. rock tunnel(ling) machine according to claim 5 detection tool changing robot, it is characterised in that: the clamping device
It (3) include mounting plate (301), mounting plate (301) is equipped with finger sliding rail (306), and mounting plate (301) lower part is equipped with mobile finger
And fixed finger, fixed finger are fixed on mounting plate (301), mobile finger passes through finger sliding rail (306) and mounting plate (301)
It is slidably connected, the pedestal of hydraulic cylinder is fixed on a mounting board, and the piston rod of hydraulic cylinder is connect with mobile finger.
8. rock tunnel(ling) machine according to claim 5 detection tool changing robot, it is characterised in that: the chuck turns
Mechanism (2) includes chuck (202) and snap-gauge, and hydraulic motor is fixed on mounting plate (301) top, and the output shaft of hydraulic motor passes through
Mounting plate (301) is connect with chuck (202), and snap-gauge is arranged on the lower surface of chuck (202).
9. rock tunnel(ling) machine according to claim 8 detection tool changing robot, it is characterised in that: the snap-gauge includes
I snap-gauge (2021) and II snap-gauge (2022), I snap-gauge (2021) and II snap-gauge (2022) are symmetrical on chuck (202)
Setting.
10. rock tunnel(ling) machine according to claim 9 detection tool changing robot, it is characterised in that: described to be twisted with chuck
Motivation structure (2) is matched equipped with tooling system, and the tooling system is equipped with and I snap-gauge (2021) and II snap-gauge
(2022) III snap-gauge (8011), the IV snap-gauge (8012) matched.
11. a kind of application method of -10 described in any item rock tunnel(ling) machines detection tool changing robots according to claim 1,
Characterized by the following steps: it 1. needs to detect tool changing robot when suspicious hobboing cutter is detected and replaced, detection is changed
Knife robot storehouse gate is opened, and detection tool changing robot (1) is slided along sliding rail, and protruding from robot storehouse gate (905)；
2. the hydraulic spray (315) on end effector in detection tool changing robot (1) spray water to suspicious hobboing cutter clear
It washes；
3. further being watched by the vision system (316) on end effector to suspicious hobboing cutter；
4. check that determining suspicious hobboing cutter needs replacing through vision system (316), by the clamping device (3) and card of end effector
Disk turns mechanism (2) cooperation and carries out replacement hobboing cutter；When checking that determining suspicious hobboing cutter does not need replacement through vision system (316), inspection
It surveys tool changing robot and returns to robot storehouse.
12. the rock tunnel(ling) machine according to claim 11 application method of detection tool changing robot, it is characterised in that: step
Suddenly 4. the process of end effector replacement hobboing cutter includes dismantling the process of tooling system, specifically includes the following steps: a, tearing open
Except cutter lock portion: first by chuck turn I snap-gauge (2021) on mechanism (2) and II snap-gauge (2022) respectively with
III snap-gauge (8011) and IV snap-gauge (8012) in tool lock system (8) match, and are rotated and are driven by hydraulic motor
Chuck (202) rotation makes I sliding block (802) and II sliding block (805) in tool lock system (8) retract at the same time in sliding slot, so
I oil cylinder (302) and II oil cylinder (304) in end effector on clamping device (3) is utilized to make No. I mobile finger afterwards
(303) cooperation handgrip, No. II mobile finger (305) and II fixed finger (1012) shape are formed with I fixed finger (3011)
At cooperation handgrip, and fixture block (801) and split out in inside clamping tool lock system (8) simultaneously；B, tool parts are removed:
The I oil cylinder (302) and II oil cylinder (304) passed through on end effector clamping device (3) first makes No. I mobile finger
(303) cooperation handgrip is formed with I fixed finger (3011), No. II mobile finger (305) and II fixed finger (3012), and
The cutter shaft seat (602) in stretching cutter (6), rotary cutter (6) are extracted out cutter (6) using handgrip outward simultaneously.
13. according to the application method of detection tool changing robot of the rock tunnel(ling) machine described in claim 11, it is characterised in that: step
4. the process of the end effector replacement hobboing cutter includes installing the process of tooling system, specifically includes the following steps: a, installation
Cutter: the clamping device (3) in end effector props up the cutter shaft seat (602) in cutter (6) and outward by rotary cutter (6)
Make its clamping knife cylinder (7)；
B, tool lock system is installed: using the fixture block in clamping device (3) inwardly clamping tool lock system (8) and being put
Enter in knife cylinder (7), No. III in mechanism in I snap-gauge and II snap-gauge and tool lock system (8) is finally turned using chuck
Snap-gauge and IV snap-gauge match, and drive chuck to turn mechanism (2) rotation to make tool lock system (8) by hydraulic motor
In I sliding block and II sliding block simultaneously stretch out be inserted into knife cylinder, the locking state of tooling system is reached with this.
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| CN113187501A (en) * | 2021-05-12 | 2021-07-30 | 中铁隧道局集团有限公司 | Bayonet type cutter holder structure for tunnel boring machine |
| CN117565089A (en) * | 2024-01-19 | 2024-02-20 | 中铁十四局集团大盾构工程有限公司 | Multi-degree-of-freedom tool changing robot suitable for large-diameter shield tunneling machine |
| CN117565089B (en) * | 2024-01-19 | 2024-04-02 | 中铁十四局集团大盾构工程有限公司 | Multi-degree-of-freedom tool changing robot suitable for large-diameter shield tunneling machine |
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