CN208950597U - A kind of support of serial manipulator, the soft arm development machine that arbitrary cross-section tunnel can be excavated - Google Patents
A kind of support of serial manipulator, the soft arm development machine that arbitrary cross-section tunnel can be excavated Download PDFInfo
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- CN208950597U CN208950597U CN201821745599.1U CN201821745599U CN208950597U CN 208950597 U CN208950597 U CN 208950597U CN 201821745599 U CN201821745599 U CN 201821745599U CN 208950597 U CN208950597 U CN 208950597U
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Abstract
The utility model discloses a kind of serial manipulators to support, can excavate the soft arm development machine in arbitrary cross-section tunnel, the technical issues of solution is the excavation demand in order to adapt to current diversification tunnel cross-section, make up the single deficiency of existing tunnel development machine digging section, the utility model includes knife disc tool system, serial manipulator system, girder and belt feeder, the girder rear portion is connect by propelling cylinder with support boots front, and support boots rear portion is connect with rear support；The cutterhead rear portion is connect by serial manipulator with girder.The utility model realizes the excavation of arbitrary shape section by the setting of the novel flexible cutter head support structure based on serial manipulator；Novel slag-tapping system by being always positioned at hole bottom scrapes slag and slag absorbing system comprising any type of, will excavate the dregs transportation generated and goes out, efficient and convenient.
Description
Technical field
The utility model relates to fields rock tunnel development machine (TBM) in constructing tunnel, and in particular to one kind can be real
The serial manipulator support of incumbent meaning section configuration tunnel excavation, the soft arm development machine that arbitrary cross-section tunnel can be excavated.
Background technique
Rock tunnel development machine (TBM) is a kind of large tunnel for integrating the technologies such as machinery, electronics, hydraulic, laser
Equipment is excavated, is played an important role in mountain tunnel and city underground engineering construction.This kind of development machine mainly utilizes at present
The rotation of cutterhead carries out broken rock excavation, and excavated section is mostly circle, and cutterhead can only do slight pitching and swing to adjust driving
Direction, but excavation face shape is limited, it is difficult to it is adapted to the Tunnel Engineering of the diversity section requirement such as the current shape of a hoof, class rectangle.
Although there is small part that other devices joint is cooperated to excavate the Engineering Projects that can complete the sections such as rectangle, the shape of a hoof,
These sections apply all to soft soil tunnel excavation, and the Project case in rock tunnel engineering is but rarely reported.In addition,
Rock tunnel(ling) machine excavated section once it is determined that, it may be difficult to change again, section excavation shape is single, and application range is limited, difficult
To meet the requirement of different engineering different sections and even same engineering different section, rock tunnel(ling) machine is carried out after engineering
Idle state happens occasionally.At present in rock tunnel, shaped cross section is disconnected using the abnormity such as Double Circle, class rectangle, shape of a hoof
The traffic tunnels engineering such as highway, the railway in face is more and more, if excavated using traditional round development machine, certainly will increase work
Journey excavated volume, while the part backbreak also needs to carry out secondary backfill, not only increases engineering cost, wastes manpower and material resources, and
And extend the duration.Therefore, it is extremely urgent to design a kind of novel hard rock mole that can meet different excavated section engineering demands.
Serial manipulator is studied more mature, has structure simple, at low cost, and it is excellent that control is simple, and space is big etc.
Point has been successfully applied to many fields, but there is not been reported on the supporting way of rock tunnel(ling) machine.
Utility model content
The utility model makes up existing tunnel development machine digging to adapt to the excavation demand of current diversification tunnel cross-section
The single deficiency of section provides a kind of position and posture for supporting cutterhead by control serial manipulator, realizes flexible structure,
Section conversion range is big, can really realize supporting based on serial manipulator, can excavating and appoint for rock tunnel arbitrary cross-section excavation
The soft arm development machine of meaning bore tunnel.
In order to solve the above technical problems, the utility model adopts the following technical solutions: a kind of support of serial manipulator can open
The soft arm development machine in arbitrary cross-section tunnel, including knife disc tool system, serial manipulator system, girder and belt feeder are dug, it is described
Girder rear portion by propelling cylinder with support boots front connect, support boots rear portion connect with rear support；The cutterhead rear portion passes through
Serial manipulator and girder are flexibly connected.
The serial manipulator includes cutterhead attitude-adjusting system and serial machine robot arm, and cutterhead attitude-adjusting system is set
It sets at cutterhead rear portion, girder front is connect by serial machine robot arm with knife disc tool system call interception mechanism.
The cutterhead attitude-adjusting system includes attachment base, and attachment base front end is connected by oscillating bearing and cutterhead activity
It connects, is connect respectively by pitching oil cylinder and oscillating oil cylinder with cutterhead on the outside of attachment base.
The serial machine robot arm includes machine large arm, machine forearm and rotary table, and rotary table is arranged in girder
On, machine forearm front end is fixedly connected with attachment base, and machine large arm rear end is articulated and connected by movable joint and rotary table, machine
Device large arm and the articulated connection of machine forearm；Between the rotary table and machine large arm, between machine large arm and machine forearm
It is equipped with kinematic driving unit.
The kinematic driving unit is telescopic oil cylinder.
The movable joint is ball hinge or universal joint.
It is equipped with slag-tapping system below the described knife disc tool system, slag-tapping system front end extends to below knife disc tool system,
Rear end is connect with belt feeder.
The slag-tapping system is belt feeder slag-tapping system or screw conveyor slag-tapping system.
The cutterhead front end is equipped with cutter, and rear end is equipped with main driving.
The soft arm development machine (Robot-TBM) of the utility model refers between development machine cutterhead and support crossbeam using several
Group hydraulic cylinder elastic connection, the distance between cutterhead and crossbeam change with the variation for excavating position.The utility model is logical
The excavation of arbitrary shape section is realized in the setting for crossing the novel flexible cutter head support structure based on serial manipulator；Pass through position always
Novel slag-tapping system in hole bottom scrapes slag and slag absorbing system comprising any type of, will excavate the dregs transportation generated and goes out, fastly
Victory is convenient.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is the utility model front end enlarged structure schematic diagram；
Fig. 3 is one of the utility model cutterhead movement locus schematic diagram；
Fig. 4 is the two of the utility model cutterhead movement locus schematic diagram.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are under that premise of not paying creative labor
Every other embodiment obtained, fall within the protection scope of the utility model.
Embodiment 1
A kind of support of serial manipulator, the soft arm development machine that arbitrary cross-section tunnel can be excavated, this reality as depicted in figs. 1 and 2
With novel structural schematic diagram and the utility model front end enlarged structure schematic diagram, including girder 5, knife disc tool system 1 and skin
Band machine 9,5 rear portion of girder are connect by propelling cylinder 6 with support 7 front of boots, and support 7 rear portion of boots is connect with rear support 8；It is described
1 rear portion of knife disc tool system be flexibly connected by serial manipulator and girder 5.
The serial manipulator includes cutterhead attitude-adjusting system 2 and serial machine robot arm 3, cutterhead attitude-adjusting system
2 settings are connect by serial machine robot arm 3 with cutterhead attitude-adjusting system 2 in cutterhead rear portion, 5 front of girder.
The cutterhead attitude-adjusting system 2 includes attachment base 204, and 204 front end of attachment base passes through oscillating bearing 201 and knife
Disk tooling system 1 is flexibly connected, and 204 outside of attachment base passes through pitching oil cylinder 202 and oscillating oil cylinder 203 and knife disc tool system respectively
1 connection of system.The cutterhead attitude-adjusting system 2 of the utility model is used to adjust the posture of knife disc tool system 1, pitching oil cylinder 202
Realize that its pitching motion, oscillating oil cylinder 203 realize that it swings.Pitching oil cylinder (302) and oscillating oil cylinder (303) are vertically set
It sets.Each cutterhead rear portion is equipped with the main driving structure of cutterhead, the pitching oil cylinder and oscillating oil cylinder phase of cutterhead attitude-adjusting system (2)
The posture of cutterhead is adjusted in mutual perpendicular quadrature.
Embodiment 2
Serial machine robot arm 3 described in the utility model includes machine large arm 301, machine forearm 305 and rotary table
303, rotary table 303 is arranged on girder 5, and 305 front end of machine forearm is fixedly connected with attachment base 204, after machine large arm 301
End is articulated and connected by movable joint 304 and rotary table 303, and machine large arm 301 and machine forearm 305 are articulated and connected；It is described
Rotary table and machine large arm between, between machine large arm and machine forearm 305 be equipped with kinematic driving unit, the fortune
Dynamic driving device is telescopic oil cylinder 302.Serial manipulator includes cutterhead attitude-adjusting system 2 and serial machine robot arm 3, wherein knife
Disk attitude-adjusting system 2 is robot delicate, and for adjusting cutterhead posture, serial machine robot arm 3 is the machine of serial manipulator
Tool arm body, wherein machine large arm 301 is main force mechanism, and telescopic oil cylinder 302 is used to realize the movement of robot arm, fortune
Movable joint 304 is the rotary joint of robot, and rotary table 303, which is fixed on girder, realizes robot revolute movement, can be taken
The multifreedom motion of the control modes such as pre-programmed or human-computer interaction realization cutterhead.
Movement driving is equipped between the rotary table and machine large arm, between machine large arm and machine forearm 305
Device 302.Other structures are the same as embodiment 1.
Embodiment 3
Kinematic driving unit 302 described in the utility model is telescopic oil cylinder.The movable joint 304 be ball hinge or
Universal joint.Other structures are the same as embodiment 2.
Embodiment 4
Slag-tapping system 4 is equipped with below the knife disc tool system 1,4 front end of slag-tapping system extends under knife disc tool system 1
Side, rear end and belt feeder 9 connect.Other structures are the same as embodiment 1.
Embodiment 5
The slag-tapping system 4 is belt feeder slag-tapping system or screw conveyor slag-tapping system.Slag-tapping system 4 and setting exist
Slag-tapping system tail pulley machine 9 connects, and the dregs of 1 lower section of knife disc tool system is delivered on belt feeder 9 by slag-tapping system 4, then
It is delivered on the outside of development machine by belt feeder 9.Other structures are the same as embodiment 4.
1 front end of knife disc tool system is equipped with cutter 101, and rear end is equipped with main driving 102.The main drive for being driven to cutterhead
Dynamic system.
The utility model carries out motion profile programming to series connection intelligent robot in advance according to construction section configuration requirement；
Development machine is set to reach series connection intelligent robot working range, series connection intelligent robot keeps cutterhead arrival specified according to setting track
Position and fixation；After cutterhead reaches designated position, the tight hole wall of stretcher for boot and shoe, propelling cylinder and main driving work are supportted, face is carried out and opens
It digs；The work of bottom slag-tapping system, the debris fallen at hole bottom is transported through belt feeder；2-4 step is repeated according to desired trajectory, is realized
The track of arbitrary shape section excavation, the excavated section of the utility model is as shown in Figure 3 and Figure 4.
Claims (9)
1. a kind of serial manipulator support, the soft arm development machine that arbitrary cross-section tunnel can be excavated, including girder (5), knife disc tool
System (1) and belt feeder (9), the girder (5) rear portion are connect with support boots (7) front by propelling cylinder (6), are supportted boots (7)
Rear portion is connect with rear support (8)；It is characterized by: knife disc tool system (1) rear portion passes through serial manipulator and girder
(5) it is flexibly connected.
2. serial manipulator support according to claim 1, the soft arm development machine that arbitrary cross-section tunnel can be excavated, feature
Be: the serial manipulator includes cutterhead attitude-adjusting system (2) and serial machine robot arm (3), cutterhead pose adjustment machine
Structure (2) setting is connect by serial machine robot arm (3) with cutterhead attitude-adjusting system (2) in cutterhead rear portion, girder (5) front.
3. serial manipulator support according to claim 2, the soft arm development machine that arbitrary cross-section tunnel can be excavated, feature
Be: the cutterhead attitude-adjusting system (2) includes attachment base (204), and attachment base (204) front end passes through oscillating bearing
(201) it is flexibly connected with knife disc tool system (1), passes through pitching oil cylinder (202) and oscillating oil cylinder on the outside of attachment base (204) respectively
(203) it is connect with knife disc tool system (1).
4. serial manipulator support according to claim 2, the soft arm development machine that arbitrary cross-section tunnel can be excavated, feature
Be: the serial machine robot arm (3) includes machine large arm (301), machine forearm (305) and rotary table (303), revolution
Pedestal (303) is arranged on girder (5), and machine forearm (305) front end is fixedly connected with attachment base (204), machine large arm (301)
Rear end is articulated and connected by movable joint (304) and rotary table (303), and machine large arm (301) and machine forearm (305) are hinged
Connection；Between the rotary table (303) and machine large arm (301), between machine large arm (301) and machine forearm (305)
It is equipped with kinematic driving unit.
5. serial manipulator support according to claim 4, the soft arm development machine that arbitrary cross-section tunnel can be excavated, feature
Be: the kinematic driving unit is telescopic oil cylinder (302).
6. serial manipulator support according to claim 4, the soft arm development machine that arbitrary cross-section tunnel can be excavated, feature
Be: the movable joint (304) is ball hinge or universal joint.
7. serial manipulator support according to claim 1, the soft arm development machine that arbitrary cross-section tunnel can be excavated, feature
It is: is equipped with slag-tapping system (4) below the knife disc tool system (1), slag-tapping system (4) front end extends to knife disc tool system
(1) lower section, rear end and belt feeder (9) connect.
8. serial manipulator support according to claim 7, the soft arm development machine that arbitrary cross-section tunnel can be excavated, feature
Be: the slag-tapping system (4) is belt feeder slag-tapping system or screw conveyor slag-tapping system.
9. serial manipulator support according to claim 1, the soft arm development machine that arbitrary cross-section tunnel can be excavated, feature
Be: knife disc tool system (1) front end is equipped with cutter (101), and rear end is equipped with main driving (102).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821745599.1U CN208950597U (en) | 2018-10-26 | 2018-10-26 | A kind of support of serial manipulator, the soft arm development machine that arbitrary cross-section tunnel can be excavated |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201821745599.1U CN208950597U (en) | 2018-10-26 | 2018-10-26 | A kind of support of serial manipulator, the soft arm development machine that arbitrary cross-section tunnel can be excavated |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109236314A (en) * | 2018-10-26 | 2019-01-18 | 中铁工程装备集团有限公司 | Serial manipulator support, the soft arm development machine that arbitrary cross-section tunnel can be excavated |
| CN111005735A (en) * | 2019-12-30 | 2020-04-14 | 中铁工程装备集团有限公司 | Parallel type flexible arm TBM cutter tunneling control method |
| CN111535824A (en) * | 2020-05-15 | 2020-08-14 | 周亚新 | Shield tunneling machine front-end soil body cutting and dividing device and working method thereof |
-
2018
- 2018-10-26 CN CN201821745599.1U patent/CN208950597U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109236314A (en) * | 2018-10-26 | 2019-01-18 | 中铁工程装备集团有限公司 | Serial manipulator support, the soft arm development machine that arbitrary cross-section tunnel can be excavated |
| CN109236314B (en) * | 2018-10-26 | 2024-04-09 | 中铁工程装备集团有限公司 | Flexible arm heading machine supported by serial robots and capable of excavating tunnels with arbitrary sections |
| CN111005735A (en) * | 2019-12-30 | 2020-04-14 | 中铁工程装备集团有限公司 | Parallel type flexible arm TBM cutter tunneling control method |
| CN111535824A (en) * | 2020-05-15 | 2020-08-14 | 周亚新 | Shield tunneling machine front-end soil body cutting and dividing device and working method thereof |
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