CN112963165A - Design method of full-face rock tunnel boring machine cutter system guiding positioning interface based on machine operation - Google Patents
Design method of full-face rock tunnel boring machine cutter system guiding positioning interface based on machine operation Download PDFInfo
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Abstract
The invention belongs to the technical field of tunneling construction equipment, and provides a design method of a full-face rock tunnel boring machine cutter system guiding positioning interface based on machine operation. The cutter guiding positioning interface is adaptive to the cutter changing task of the full-face rock tunnel boring machine, the engineering problem that the multi-target high-precision positioning difficulty of a large-load robot is high in limited space is solved, the requirement of the positioning precision of the tail end of the robot is lowered by considering various error factors, the design method is provided, the realization of functions is guaranteed, the cutter changing efficiency is further improved, the boring period is shortened, and the manufacturing cost of the whole tunnel engineering is lowered.
Description
Technical Field
The invention belongs to the technical field of tunneling construction equipment, and provides a machine operation-based guiding positioning interface of a full-face rock tunnel boring machine cutter system capable of self-centering and self-adjusting phases and a design method thereof, aiming at the engineering problem of high multi-target high-precision positioning difficulty of a large-load robot in a limited space under the intelligent trend of tunneling equipment.
Background
In the excavation process of the tunnel boring machine, the rock is broken by mainly utilizing the extrusion cutting of the hob and the rock, and under a severe service environment, the consumption of the hob is huge, so that the hob needs to be frequently replaced. In the existing engineering, a manual method is mainly adopted for hob replacement, the replacement time of the hob is long, the hob replacement efficiency is low, the progress of tunnel construction is seriously influenced, and meanwhile, the cost of the whole tunnel construction is increased. More importantly, the tool changing worker can cause irreversible damage to a human body when working in a high-pressure environment for a long time in the tool changing process, even serious accidents such as casualties and the like occur, the demand of various tunnel constructions in China is high in the next decade, the tool changing is carried out by a robot instead of a human, and the intellectualization of tunnel tunneling equipment is a necessary trend of tunnel tunneling technology development. The key problem mainly faced by the robot tool assembly and disassembly system is to tighten or loosen a fastening bolt of the tool system, and the invention provides a guiding positioning interface of a full-face rock tunnel boring machine tool system, which can self-center and self-adjust the phase, aiming at the engineering problem of high multi-target high-precision positioning difficulty of a heavy-load robot in a limited space so as to match with a visual positioning system of an end effector and meet the tool changing and positioning requirements of the robot. Because the robot bin is narrow, the design of the guiding positioning interface of the full-face rock tunnel boring machine cutter system is as simple as possible on the premise of realizing the functions safely and reliably.
Disclosure of Invention
The invention aims to provide a full-face rock tunnel boring machine cutter system guiding positioning interface capable of self-centering and self-adjusting phase based on machine operation and a design method thereof.
The technical scheme of the invention is as follows:
a full face rock tunnel boring machine cutter system guiding positioning interface based on machine operation mainly comprises a guiding cone structure 1, a universal sleeve structure 2 and a movable connection structure 3, wherein the general schematic diagram of the full face rock tunnel boring machine cutter system guiding positioning interface structure is shown in figure 1.
Under the ideal condition of guided butt joint of the tool system for dismounting and mounting, the axis of the fastening bolt of the tool system is collinear with the axis of the guided positioning interface of the tool system of the full-face rock tunnel boring machine, under the actual condition, relative displacement exists between the two axes, namely radial error and angle error, and because relative phase exists between the hexagonal head of the fastening bolt of the tool system and the common hexagonal sleeve, phase error exists. And in the formula, u, v and w are translation vector parameters along x, y and z axes, and alpha, beta and delta are rotation vector parameters around the x, y and z axes respectively.
In the tool system error, the processing and assembling error M of the depth of a hole for installing the side panel of the tool and the hob and the length of the shaft has directionality.
The radius of the external circle of the hexagonal head of the fastening bolt of the cutter system is R1。
The guide cone structure 1 is matched with the movable connecting structure 3 to accommodate the radial error and the angle error which actually exist in the cutter system, the guide positioning interface eccentric rotation of the full-face rock tunnel boring machine cutter system can be realized, and the universal sleeve structure 2 accommodates the phase error of the guide positioning interface.
The guide cone structure 1 consists of a hollow structure 1-1 with the outer part being in a truncated cone shape and the diameter gradually changing and a guide cone connecting part structure 1-2, inner holes at two ends of the hollow structure 1-1 with the outer part being in the truncated cone shape and the diameter gradually changing are different, an inner hole at the large end face of the hollow structure 1-1 with the outer part being in the truncated cone shape and the diameter gradually changing is circular, an inner hole at the small end face of the hollow structure 1-1 with the outer part being in the truncated cone shape and the diameter gradually changing is hexagonal, the connecting part structure 1-2 in the guide cone structure 1 is connected with a sleeve shell 2-1 in a universal sleeve structure 2 through threads, the maximum outer enveloping circle diameter a of the guide cone structure parameter is larger than the enveloping circle diameter of an error position area of a fastening bolt of a cutter system, and the guide cone structure is guided to enter a guiding positioning interface, and carrying out butt joint. The maximum diameter a of the outer envelope circle needs to satisfy the following requirements:
a＝2.4×(m+max{u，v-m}+R1) (3)
in the formula, M is the error component of the depth of the hole for installing the side panel of the cutter and the hob and the length processing and assembling error M of the shaft.
When the hexagonal head of the fastening bolt of the cutter system enters the guide cone structure and reaches the minimum outer enveloping diameter, the hexagonal head of the fastening bolt of the cutter system is about to enter the universal sleeve structure 2, because the cutter is welded on the cutter head, and the position of the fastening bolt of the cutter system is fixed, when a radial error exists, the radial error existing after the guided positioning interface of the cutter system of the full-face rock tunnel boring machine is in butt joint with the fastening bolt of the cutter system requires the universal sleeve structure 2 of the guided positioning interface of the cutter system of the full-face rock tunnel boring machine to rotate around the fastening bolt of the cutter system eccentrically, so the radial error is required to be as small as possible when the hexagonal head of the fastening bolt of the cutter system enters the universal sleeve structure 2, and b is designed into the. A schematic diagram of the guide cone structure 1 and its design parameters is shown in fig. 2.
In the formula, M is the error component of the depth of the hole for installing the side panel of the cutter and the hob and the length processing and assembling error M of the shaft.
The universal sleeve structure 2 mainly comprises a sleeve shell 2-1, a movable steel bar 2-2, a movable steel bar limiting base 2-3 and a movable steel bar fixing inner bushing 2-4; the movable steel bar 2-2 mainly comprises a movable steel bar clamping front end 2-2-1, a movable steel bar telescopic middle part 2-2-2 and a movable steel bar fixed bottom 2-2-3. A spring is sleeved on the flexible middle part 2-2-2 of the movable steel bar 2-2, the movable steel bar 2-2 is arranged on the movable steel bar fixing inner bushing 2-4, one end of the spring sleeved on the flexible middle part 2-2-2 of the movable steel bar is propped against the shoulder of the clamping front end 2-2-1 of the movable steel bar, the other end is propped against the upper end surface of the movable steel bar fixing inner bushing 2-4, the movable steel bar 2-2 can compress the spring sleeved on the flexible middle part 2-2-2 of the movable steel bar to move relative to the movable steel bar fixing inner bushing 2-4, the movable steel bar limiting base 2-3 and the movable steel bar fixing inner bushing 2-4 are arranged on the sleeve shell 2-1 through threads, after butt joint, the cutter system fastening bolt pushes the movable steel bar 2-2 to reach the movable limit position, the bottom of the fixed bottom 2-2-3 of the movable steel bar is propped against the limiting base 2-3 of the movable steel bar. The universal socket structure 2 can accommodate phase errors existing between the tool system fastening bolt hex head and the common hex socket through a series of movable steel bars 2-2, so that the guided docking capability can accommodate any phase error. The structure of the universal sleeve 2 and the design parameter schematic diagram are shown in figure 3, and the structure of the movable steel bar 2-2 and the design parameter schematic diagram are shown in figure 4.
The universal sleeve structure 2 in the sleeve shell 2-1 hexagonal hole circumcircle diameter c make the radial error that gets into universal sleeve structure 2 as little as possible under the prerequisite of guaranteeing to hold the phase error, guarantee that the eccentricity is as little as possible, the structure motion range is little, universal sleeve structure 2 in the sleeve shell 2-1 hexagonal hole circumcircle diameter c equals the cutter system fastening bolt hexagon of hexagonal head circumcircle for the circumscribed circle's circumscribed circle diameter of orthohexagonal:
in the formula, M is the error component of the depth of the hole for installing the side panel of the cutter and the hob and the length processing and assembling error M of the shaft.
The diameter e of the movable steel bar 2-2 in the universal sleeve structure 2 is designed to be the diameter of a fastening bolt of a cutter system which can be clamped by a minimum hexagonal inner hole under an infinite phase:
in the formula, M is the error component of the depth of the hole for installing the side panel of the cutter and the hob and the length processing and assembling error M of the shaft.
The telescopic distance h of the movable steel bar 2-2 in the universal sleeve structure 2 is slightly larger than the working depth f of the movable steel bar, so that the bottom of the movable steel bar 2-2 is propped against the limiting base 2-3 of the movable steel bar before the movable steel bar 2-2 reaches the limit position:
h＝f+2 (7)
the length g of the movable steel bar 2-2 in the universal sleeve structure 2 comprises two times slightly longer than the working depth f of the movable steel bar, the installation thickness p of the movable steel bar fixing inner bushing 2-4 and the fixed bottom g of the movable steel bar1Length of (d):
g＝2f+p+4+g1 (8)
the universal sleeve structure 2 is characterized in that the total length L of the sleeve shell 2-1 comprises a movable steel bar 2-2, a movable steel bar length g, a movable steel bar working depth f, a movable steel bar limiting base 2-3 height i and a movable connection structure 3 universal joint installation depth q:
L＝g+f+i+q (9)
the movable connecting structure 3 is provided with two rotating joints, mainly comprises a first movable connecting rod 3-1, a first movable connecting center rotating block 3-2, a second movable connecting rod 3-3, a second movable connecting center rotating block 3-4, a third movable connecting rod 3-5 and a spring 3-6, wherein the first movable connecting rod 3-1 is connected with a sleeve shell 2-1 and a movable steel bar limiting base 2-3 in the universal sleeve structure 2 through threads; the first movable connecting rod 3-1, the first movable connecting center rotating block 3-2 and the second movable connecting rod 3-3 form a rotating joint 1, and the first movable connecting center rotating block 3-2 is used as a rotating pivot of the first movable connecting rod 3-1 and the second movable connecting rod 3-3, so that the first movable connecting rod 3-1 and the second movable connecting rod 3-3 can be driven when the two shafts have angular deviation; the second movable connecting rod 3-3, the second movable connecting center rotating block 3-4 and the third movable connecting rod 3-5 form a rotating joint 2, and the second movable connecting center rotating block 3-4 is used as a rotating pivot of the second movable connecting rod 3-3 and the third movable connecting rod 3-5, so that the second movable connecting rod 3-3 and the third movable connecting rod 3-5 can be driven when the two shafts have angular deviation; the third movable connecting rod 3-5 is connected with the tool changing robot end effector through threads; omnipotent sleeve structure 2 and swing joint structure 3 exist under the combined error of radial error and angle error between tool changing robot end and the fastening bolt of tool system fastening tool system, realize the guide butt joint of tool system, for guaranteeing the eccentric rotation of full section rock tunnel boring machine tool system guiding nature location interface under the radial error, 1 turned angle epsilon of revolute joint should be designed as:
in the formula, M is the error component of the depth of the hole for installing the side panel of the cutter and the hob and the length processing and assembling error M of the shaft.
The rotation angle mu of the rotary joint 2 is designed as follows:
in the formula, M is the error component of the depth of the hole for installing the side panel of the cutter and the hob and the length processing and assembling error M of the shaft.
One end of a spring 3-6 is fixed on the third movable connecting rod 3-5, the other end of the spring is fixed on a sleeve shell 2-1 in the universal sleeve structure 2, and the guiding positioning interface of the whole full-face rock tunnel boring machine cutter system is kept in a non-guiding butt joint state through the spring force; the schematic view of the articulating mechanism 3 is shown in figure 7.
The working principle is as follows: when the tool changing robot end effector is used for disassembling a hob, the robot end moves, a fastening bolt of a tool system enters a guide cone structure 1 from a maximum outer enveloping circle of a guide cone and reaches a minimum outer enveloping circle of the guide cone under the condition of accommodating radial errors and angle errors, at the moment, a movable connecting structure 3 is matched and rotated for a certain angle, the tool changing robot continues to move the fastening bolt of the tool system into a universal sleeve structure 2 and pushes a movable steel rod 2-2 to move by a distance of a working depth f of the movable steel rod 2-2, in the process, the universal sleeve structure 2 is parallel to the axis of the fastening bolt of the tool system through the cooperation of the movable connecting structure 3, a guided positioning interface of the tool system of the full-section rock tunnel boring machine enters a working position, the fastening bolt of the tool system can be rotated and loosened, and the fastening bolt of the tool system can be moved by the movable connecting structure 3 and the universal sleeve structure 2 which can move along And the movable steel bar 2-2 moves along with the movement of the universal sleeve structure 2.
The invention has the beneficial effects that: the mechanism is applied to a tool disassembling and assembling system of a full-face rock tunneling machine robot, self-centering and self-phase adjustment can be realized under the comprehensive errors of radial errors, angle errors and phase errors, the torque of a hydraulic driving device can be transmitted to the universal sleeve structure 2, the tool disassembling and assembling of the tool system are completed, the engineering problem that the multi-purpose high-precision positioning difficulty of a large-load robot is high in limited space is solved, the requirement on the positioning precision of the tail end of the robot is lowered by considering various error factors, and the design method is provided to ensure the realization of functions.
Drawings
Fig. 1 is a general schematic diagram of a full face rock tunnel boring machine cutter system guiding location interface structure.
Fig. 2 is a schematic diagram of a guide cone structure and its design parameters.
FIG. 3 is a schematic view of a universal sleeve construction.
Fig. 4 is a schematic diagram of the structure of the movable steel bar and its parameters.
Fig. 5 is a schematic structural parameter diagram of the sleeve housing 2-1 in the universal sleeve structure 2.
FIG. 6 is a schematic view of structural parameters of a movable steel bar fixed inner bushing and a limiting base.
Fig. 7 is a schematic view of an articulating structure.
Fig. 8 is an exploded view of the articulating structure.
FIG. 1 shows a guide cone structure; 1-1, the outer part of the guide cone structure is a hollow structure with a cone-shaped diameter gradually changed; 1-2, connecting part structure of the guide cone structure; 2, a universal sleeve structure; 3, a movable connecting structure; 2-1 a sleeve housing; 2-2 moving steel bars; 2-3 steel bar limiting bases; 2-4, fixing an inner bushing by using a steel bar; 2-2-1, clamping the front end of the movable steel bar; 2-2-2 flexible middle part of the movable steel bar; 2-2-3 movable steel bars are fixed at the bottom; 3-1 a first movable connecting rod; 3-2 a first movably connected center turning block; 3-3 second movable connecting rod; 3-4 second movable connection center turning block; 3-5 third movable connecting rods; 3-6 springs; a, the maximum outer enveloping circle diameter of the guide cone; b, the diameter of the minimum outer enveloping circle of the guide cone; c, the diameter of a circumscribed circle of a hexagonal inner hole of the sleeve shell 2-1; e, the diameter of the movable steel bar is 2-2; h, the movable steel bar has a telescopic distance of 2-2; f, moving the working depth of the steel bar 2-2; g, the length of the movable steel bar is 2-2; p, the installation thickness of the movable steel bar fixed inner bushing 2-4; g1 moving steel bar 2-2 fixed bottom; l sleeve shell 2-1 total length; i the movable steel bar limiting base is 2-3 high.
Detailed Description
The following detailed description of the embodiments of the invention refers to the accompanying drawings and claims.
When the full-face tunnel boring machine stops, the hobbing cutter is replaced by the manipulator, and the whole mechanism conducts the butt joint action by one time as follows:
the method comprises the following steps: when the tool changing robot moves, a fastening bolt of a tool system enters the guide cone structure 1 from the maximum outer enveloping circle of the guide cone, the radial error and the angle error are accommodated to reach the minimum outer enveloping circle of the guide cone, and the rotary joint 1 of the movable connecting structure 3 rotates for a certain angle when the fastening bolt of the tool system abuts against the conical surface of the guide cone structure 1 to reach the minimum outer enveloping circle of the guide cone.
Step two: the tool changing robot continues to move the fastening bolt of the tool system to enter the universal sleeve structure 2 and push the movable steel bar 2 to 2 by the working depth f, in the process, the joint 1 of the movable connection structure 3 rotates to the angle when the universal sleeve structure 2 is parallel to the axis of the fastening bolt of the tool system, meanwhile, the joint 2 of the movable connection structure 3 is matched to rotate by a certain angle, the guiding positioning interface of the tool system of the full-face rock tunnel boring machine enters the working pose, and the fastening bolt of the tool system can be loosened and tightened in a rotating mode.
Step three: when the tool system fastening bolt and the universal sleeve structure 2 do not have eccentricity, the driving device drives the third movable connecting rod 3-5 of the movable connecting structure 3 to enable the movable rigid rod 2-2 in the universal sleeve structure 2 to clamp the tool system fastening bolt for tightening or loosening the tool system fastening bolt; if the tool system fastening bolt and the universal sleeve structure 2 have eccentricity, the movable connecting structure 3 drives the universal sleeve structure 2 to move along the axial direction of the tool system fastening bolt in a small displacement mode, meanwhile, the movable steel bar 2-2 moves along with the movement of the universal sleeve structure 2 to fix the tool system fastening bolt in real time, and the universal sleeve structure 2 eccentrically twists the tool system fastening bolt around the tool system fastening bolt.
Claims (1)
1. A design method of a full face rock tunnel boring machine cutter system guiding positioning interface based on machine operation is characterized in that the full face rock tunnel boring machine cutter system guiding positioning interface mainly comprises a guiding cone structure (1), a universal sleeve structure (2) and a movable connecting structure (3);
under the ideal condition of guided docking of the cutter system for dismounting and mounting, the axis of a fastening bolt of the cutter system is collinear with the axis of a guided positioning interface of the cutter system of the full-face rock tunnel boring machine; in practical situations, relative displacement, namely radial error and angle error, exists between the two axes, and phase error exists due to relative phase between the hexagonal head of the fastening bolt of the cutter system and the hexagonal sleeve; and (2) setting a comprehensive error momentum model of the cutter system to be D under the actual condition, wherein u, v and w are translation vector parameters along x, y and z axes, and alpha, beta and delta are rotation vector parameters around the x, y and z axes respectively:
in the tool systematic error, the depth of a hole for installing a side panel and a hob and the length of a shaft of the tool are processed and assembled, and the assembly error M has directionality:
the radius of the external circle of the hexagonal head of the fastening bolt of the cutter system is R1；
The guide cone structure (1) is matched with the movable connecting structure (3) to accommodate the actual radial error and angle error of the cutter system, so that the guide positioning interface of the cutter system of the full-face rock tunnel boring machine can eccentrically rotate, and the universal sleeve structure (2) accommodates the phase error of the guide positioning interface;
the guide cone structure (1) is an integrated structure consisting of a hollow structure (1-1) with a truncated cone-shaped diameter gradually changing outside and a guide cone connecting part structure (1-2), the inner holes at two ends of the hollow structure (1-1) with the truncated cone-shaped diameter gradually changing outside are different in shape, the inner hole at the large end face of the hollow structure (1-1) with the truncated cone-shaped diameter gradually changing outside is circular, and the inner hole at the small end face of the hollow structure (1-1) with the truncated cone-shaped diameter gradually changing outside is hexagonal; the guide cone connecting part structure (1-2) is connected with the sleeve shell (2-1) through threads, the maximum parameter diameter a of an outer enveloping circle of the guide cone structure (1) is larger than the diameter of an enveloping circle of an error position area of a fastening bolt of a cutter system, and the guide cone structure is guided to enter a cutter system guiding positioning interface of the full-face rock tunnel boring machine under a radial error to be butted; the maximum diameter a of the outer envelope circle needs to satisfy the following requirements:
a＝2.4×(m+max{u，v-m}+R1) (3)
in the formula, M is the error component of the depth of a hole for installing the side panel of the cutter and the hob and the length processing assembly error M of the shaft;
cutter system fastening bolt hexagon head gets into when guide cone structure (1) reachs minimum outer envelope diameter, be about to get into universal sleeve structure (2) promptly, because the cutter welding is on the blade disc, cutter system fastening bolt rigidity, therefore when there is radial error, the universal sleeve structure (2) are required to radial error that exists after full section rock tunnel boring machine cutter system guiding nature location interface docks with cutter system fastening bolt, round cutter system fastening bolt eccentric rotation, the event should make radial error as little as possible when getting into universal sleeve structure (2), b designs for the circumscribed circle diameter of the regular hexagon who uses cutter system fastening bolt hexagon head circumscribed circle as inscribed circle:
the universal sleeve structure (2) mainly comprises a sleeve shell (2-1), a movable steel bar (2-2), a movable steel bar limiting base (2-3) and a movable steel bar fixing inner bushing (2-4); the movable steel bar (2-2) mainly comprises a clamping front end (2-2-1) of the movable steel bar, a telescopic middle part (2-2-2) of the movable steel bar and a fixed bottom (2-2-3) of the movable steel bar; a flexible middle part (2-2-2) of the movable steel bar (2-2) is sleeved with a spring, the movable steel bar (2-2) is arranged on a fixed inner lining sleeve (2-4) of the movable steel bar, one end of the spring sleeved on the flexible middle part (2-2-2) of the movable steel bar is propped against the shoulder of the clamping front end (2-2-1) of the movable steel bar, the other end of the spring is propped against the upper end surface of the fixed inner lining sleeve (2-4) of the movable steel bar, and the movable steel bar (2-2) can compress the spring sleeved on the flexible middle part (2-2-2) of the movable steel bar to move relative to the fixed inner lining sleeve (2-4) of the movable steel bar; the movable steel bar limiting base (2-3) and the movable steel bar fixing inner bushing (2-4) are installed on the sleeve shell (2-1) through threads, and after butt joint is completed, the bottom of the fixed bottom (2-2-3) of the movable steel bar is abutted against the movable steel bar limiting base (2-3) before the movable steel bar (2-2) is pushed to a movable limit position by a fastening bolt of a cutter system; the universal sleeve structure (2) accommodates a phase error existing between a fastening bolt hexagon head and a hexagon sleeve of a cutter system through the movable steel bar (2-2), so that the guide butt joint performance can accommodate any phase error;
omnipotent sleeve structure (2) in sleeve casing (2-1) hexagon hole circumscribed circle diameter c make the radial error that gets into omnipotent sleeve structure (2) as far as possible under the prerequisite of guaranteeing to hold phase error, guarantee that the eccentricity is as little as possible, the structure motion range is little, sleeve casing (2-1) hexagon hole circumscribed circle diameter c equals the circumscribed circle diameter of the regular hexagon that the cutter system fastening bolt hexagon head circumscribed circle is inscribed circle in omnipotent sleeve structure (2) during the design:
in the formula, M is the error component of the depth of a hole for installing the side panel of the cutter and the hob and the length processing assembly error M of the shaft;
the diameter e of the movable steel bar (2-2) in the universal sleeve structure (2) is designed to be the diameter of a fastening bolt of a minimum hexagonal inner hole clamping cutter system under an infinite phase:
the telescopic distance h of the movable steel bar (2-2) in the universal sleeve structure (2) is greater than the working depth f of the movable steel bar, so that the bottom of the movable steel bar (2-2) is supported on a movable steel bar limiting base (2-3) before the movable steel bar (2-2) reaches a limit position:
h＝f+2 (7)
the steel bar length g of the movable steel bar (2-2) in the universal sleeve structure (2) comprises two times of the working depth f of the movable steel bar, the installation thickness p of the movable steel bar (2-2) fixed inner bushing (2-4), and the fixed bottom g of the movable steel bar1Length of (d):
g＝2f+p+4+g1 (8)
omnipotent sleeve structure (2) in sleeve shell (2-1) overall length L include the rod iron length g of activity rod iron (2-2), activity rod iron depth of operation f, spacing base of activity rod iron (2-3) height i and swing joint structure (3) universal joint installation depth q:
L＝g+f+i+q (9)
the movable connecting structure (3) is provided with two rotating joints, and mainly comprises a first movable connecting rod (3-1), a first movable connecting center rotating block (3-2), a second movable connecting rod (3-3), a second movable connecting center rotating block (3-4), a third movable connecting rod (3-5) and a spring (3-6); the first movable connecting rod (3-1) is connected with the sleeve shell (2-1) and the movable steel bar limiting base (2-3) through threads; the first movable connecting rod (3-1), the first movable connecting center rotating block (3-2) and the second movable connecting rod (3-3) form a first rotating joint, and the first movable connecting center rotating block (3-2) is used as a rotating pivot of the first movable connecting rod (3-1) and the second movable connecting rod (3-3), so that transmission can be performed when the two shafts of the first movable connecting rod (3-1) and the second movable connecting rod (3-3) have angular deviation; a second rotating joint is formed by the second movable connecting rod (3-3), the second movable connecting center rotating block (3-4) and the third movable connecting rod (3-5), and the second movable connecting center rotating block (3-4) is used as a rotating pivot of the second movable connecting rod (3-3) and the third movable connecting rod (3-5), so that the second movable connecting rod (3-3) and the third movable connecting rod (3-5) can be driven when the two shafts have angular deviation; the third movable connecting rod (3-5) is connected with the tool changing robot end effector through threads; omnipotent sleeve structure (2) and swing joint structure (3) have under the combined error of radial error and angle error between tool changing robot end and the fastening bolt of tool system fastening tool system, realize the guide butt joint of tool system, for the eccentric rotation of guaranteeing full section rock tunnel boring machine tool system guiding nature location interface under the radial error, first revolute joint turned angle epsilon should be designed as:
the second rotary joint rotation angle mu should be designed as follows:
one end of a spring (3-6) is fixed on the third movable connecting rod (3-5), the other end of the spring is fixed on a sleeve shell (2-1) in the universal sleeve structure (2), and the guiding positioning interface of the whole full-face rock tunnel boring machine cutter system is kept in a non-guiding butt joint state by the spring force.
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| CN202110285881.6A CN112963165B (en) | 2021-03-17 | 2021-03-17 | Design method of full-face rock tunnel boring machine cutter system guiding positioning interface based on machine operation |
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| CN202110285881.6A CN112963165B (en) | 2021-03-17 | 2021-03-17 | Design method of full-face rock tunnel boring machine cutter system guiding positioning interface based on machine operation |
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| CN112963165A true CN112963165A (en) | 2021-06-15 |
| CN112963165B CN112963165B (en) | 2022-01-04 |
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| CN202110285881.6A Active CN112963165B (en) | 2021-03-17 | 2021-03-17 | Design method of full-face rock tunnel boring machine cutter system guiding positioning interface based on machine operation |
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