CN209129616U - A kind of support of parallel robot, the soft arm development machine that arbitrary cross-section tunnel can be excavated - Google Patents
A kind of support of parallel robot, the soft arm development machine that arbitrary cross-section tunnel can be excavated Download PDFInfo
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- CN209129616U CN209129616U CN201821745040.9U CN201821745040U CN209129616U CN 209129616 U CN209129616 U CN 209129616U CN 201821745040 U CN201821745040 U CN 201821745040U CN 209129616 U CN209129616 U CN 209129616U
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Abstract
The utility model discloses a kind of support of parallel robot, the soft arm development machine in arbitrary cross-section tunnel can be excavated, solution be that excavated volume of typical round development machine during excavating section rock tunnel is big, need to backfill, engineering cost height, it is long in time limit the problems such as.The soft arm development machine of the utility model includes knife disc tool system, drive system, front support and girder, front support is arranged on girder, the drive system front is connect with knife disc tool system, and drive system is flexibly connected by parallel manipulator robot arm with front support.The utility model realizes that flexible structure, section conversion range are big, really realizes the excavation of rock tunnel arbitrary cross-section by the pose of control parallel manipulator robot arm；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 parallel robot support of incumbent meaning section configuration tunnel excavation, the soft arm development machine and its driving that arbitrary cross-section tunnel can be excavated
Method.
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.The excavation of this kind of development machine is disconnected at present
Face is substantially circular, although the case for also having small part that can complete the sections such as rectangle, the shape of a hoof, these abnormity are disconnected
Face applies all to soft soil tunnel excavation, yet there are no in rock tunnel engineering, and this kind of development machine excavated section is once true
It is fixed, it can not just change again in application process, excavation shape is single, and application range is limited, can not accomplish that arbitrary cross-section is opened
It digs.At present in rock tunnel, shaped cross section is more and more using the engineering of the sections such as the shape of a hoof, if using traditional
Round development machine excavates, and a part that certainly will be increased engineering excavation amount, while dig more will also backfill, not only increase engineering at
This, also extends the duration.
Utility model content
The technical problems to be solved in the utility model is the abnormity excavated in rock tunnel using traditional round development machine
Section, excavated volume is big, need to backfill, engineering cost is high, long in time limit, provides a kind of posture by controlling parallel manipulator robot arm,
Realize that flexible structure, section conversion range are big, really realize the excavation of rock tunnel arbitrary cross-section parallel robot support, can
Excavate the soft arm development machine in arbitrary cross-section tunnel.
In order to solve the above technical problems, the utility model adopts the following technical solutions: a kind of support of parallel robot can open
Dig the soft arm development machine in arbitrary cross-section tunnel, including knife disc tool system, drive system, front support and girder, front support setting
On girder, the drive system front is connect with knife disc tool system, and drive system passes through parallel manipulator robot arm and preceding branch
Support flexible connection.
The parallel manipulator robot arm is the hydraulic cylinder group of parallel-connection structure form, hydraulic cylinder group front end and drive system
Articulated connection, rear end and front support are articulated and connected.
Hydraulic cylinder group front end is articulated and connected by ball hinge or universal joint and drive system, and rear end passes through flexural pivot
Seat or universal joint and front support are articulated and connected.
The drive system connects into truss structure by hydraulic cylinder group and front support, and the hydraulic cylinder group is at least
There are three groups, every group of at least one hydraulic cylinder.The both ends of at least three groups of hydraulic cylinder group are respectively in drive system and preceding branch
It is uniformly distributed in support
The hydraulic cylinder group has three groups, and every group has a hydraulic cylinder.
The hydraulic cylinder group has three groups, and every group there are two hydraulic cylinders.
The hydraulic cylinder group has four groups, and every group there are two hydraulic cylinders.
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 connected with belt feeder.
The slag-tapping system is belt feeder slag-tapping system or screw conveyor slag-tapping system.
The knife disc tool system is equipped with disk cutter；Steel arch-shelf erector and anchor pole are additionally provided on the girder
Borer system, girder are connected by propulsion system with support system, and support system rear portion is equipped with rear support leg.
Parallel robot support, can excavate arbitrary cross-section tunnel soft arm development machine driving method, comprising the following steps:
1. development machine works, support system stretching hole wall, rear support leg is retracted, and propulsion system is stretched out, and drives front support, shield by girder
Structure, parallel manipulator robot arm, drive system, knife disc tool system are tunneled forward；2. the cutterhead for being equipped with disk cutter is driving
Rotary motion under the action of system completes tunnel excavation；3. the rock slag excavated is exported outside hole by belt feeder slag-tapping system；3. promoting
After the stroke that system completes a tunnel excavation promotes, rear support leg, which stretches out, pushes against hole bottom, supports host, and support system retracts,
It is moved forward under the action of propulsion system and completes to change step process.
The step passes through parallel manipulator robot arm and adjusts knife when 2. cutterhead completes tunnel excavation under the action of drive system
The position of disk.
Soft arm development machine (Robot-TBM) refers between development machine cutterhead and support crossbeam using several groups hydraulic cylinder group
Elastic connection, the distance between cutterhead and crossbeam change with the variation for excavating position.The utility model can obtain arbitrarily
The excavation operation of section configuration: parallel manipulator robot arm utilizes the truss structure of hydraulic cylinder group composition, can be significantly a wide range of
Adjustment cutterhead excavate range, to obtain the arbitrary cross-section of needs.Hard rock rock tunnel may be implemented in cooperation hobboing cutter cutterhead
It excavates molding: having widened the application range of development machine, especially realize the section excavation in ground consisting of hard rock, form one
Kind novel flexible parallel manipulator robot arm arbitrary cross-section development machine.
The utility model realizes that flexible structure, section conversion range are big, really by the pose of control parallel manipulator robot arm
Realize the excavation of rock tunnel arbitrary cross-section；By be always positioned at hole bottom novel slag-tapping system include it is any type of scrape slag and
Slag absorbing system will excavate the dregs transportation generated and go out, efficient and convenient.
Detailed description of the invention
Fig. 1 is 1 structural schematic diagram of the utility model embodiment；
Fig. 2 is cutting status structural schematic diagram at the top of 1 cutterhead of the utility model embodiment；
Fig. 3 is 1 cutterhead bottom cutting status structural schematic diagram of the utility model embodiment；
Fig. 4 is the A-A view of Fig. 1；
Fig. 5 is the E-E view of Fig. 2；
Fig. 6 is the F-F view of Fig. 3；
Fig. 7 be 2 hydraulic cylinder group of embodiment be four groups, every group of two hydraulic cylinder when Fig. 1 B-B view；
Fig. 8 be 2 hydraulic cylinder group of embodiment be four groups, every group of two hydraulic cylinder when Fig. 1 C-C view；
Fig. 9 is that 3 hydraulic cylinder group of embodiment is three groups, front enlarged structure schematic diagram when every group of two hydraulic cylinder；
It is three groups that Figure 10, which is 3 hydraulic cylinder group of embodiment, drive system, parallel robot when every group of two hydraulic cylinder
The stereochemical structure relationship schematic diagram of arm and front support；
It is three groups that Figure 11, which is 4 hydraulic cylinder group of embodiment, drive system, parallel robot when every group of hydraulic cylinder
The stereochemical structure relationship schematic diagram of arm and front support.
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
As shown in figures 1 to 6, a kind of support of parallel robot, the soft arm development machine in arbitrary cross-section tunnel, including knife can be excavated
Disk tooling system 1, drive system 2, front support 6 and girder 9, front support 6 are arranged on girder 9,2 front of drive system
It is connect with knife disc tool system 1, drive system 2 is flexibly connected by parallel manipulator robot arm 14 and front support 6.Knife disc tool system
1 is bolted with drive system 2, and drive system 2 is made of bearing, sealing, motor, speed reducer and steel construction piece.
The parallel manipulator robot arm 14 is the hydraulic cylinder group 5 of parallel-connection structure form, 5 front end of hydraulic cylinder group and driving
The articulated connection of system 2, rear end and front support 6 are articulated and connected.The utility model hydraulic cylinder group 5 can use fluid power system
Or electrohydraulic servo system is driven；Hydraulic cylinder group 5 can also use straight line cylinder or rotary pneumatic motor simultaneously, and adopt
Use Pneumatic drive system.
5 front end of hydraulic cylinder group is articulated and connected by ball hinge 3, flat free bearing or universal joint and drive system 2, after
End is articulated and connected by ball hinge 3, flat free bearing or universal joint and front support 6.
The slag-tapping system 13 is belt feeder slag-tapping system or screw conveyor slag-tapping system.Slag-tapping system 13 is belt
Machine slag-tapping system, slag-tapping system 13 connect in slag-tapping system tail pulley machine 16 with being arranged, and slag-tapping system 13 is by knife disc tool system
The dregs of 1 lower section of system is delivered on belt feeder 16, then is delivered on the outside of development machine by belt feeder 16.
The knife disc tool system 1 is equipped with disk cutter 15；Steel arch-shelf erector 7 is additionally provided on the girder 9
With jumbolter system 8, girder 9 is connected by propulsion system 10 with support system 11, and 11 rear portion of support system is equipped with rear support leg
12.Cutterhead position when excavating among the utility model tunnel is as shown in Figure 1 and Figure 4, cutterhead position when tunnel top excavates
As shown in Figures 2 and 3；Cutterhead position when tunnel bottom excavates is as shown in Figure 3 and Figure 6；
A kind of support of parallel robot, can excavate arbitrary cross-section tunnel soft arm development machine driving method, including it is following
Step: when 1. development machine works, 11 stretching hole wall of support system, rear support leg 12 is retracted, and propulsion system 10 is stretched out, by 9 band of girder
Dynamic front support 6, shield structure 4, parallel manipulator robot arm 14, drive system 2, knife disc tool system 1 are tunneled forward；2. being equipped with disk
The knife disc tool system 1 of shape hobboing cutter 15 rotary motion under the action of drive system 2 completes tunnel excavation；3. the rock slag excavated
It is exported outside hole by belt feeder slag-tapping system 13；After 3. the stroke that propulsion system 10 completes a tunnel excavation promotes, rear support leg 12
It stretches out and pushes against hole bottom, support host, support system 11 retracts, and moves forward under the action of propulsion system 10 and completes to change step work
Sequence.
The step passes through parallel manipulator when 2. knife disc tool system 1 completes tunnel excavation under the action of drive system 2
The position of the adjustment knife disc tool system 1 of robot arm 14.
Embodiment 2
A kind of support of parallel robot, the soft arm development machine that can excavate arbitrary cross-section tunnel, the hydraulic cylinder group have
Four groups, every group there are two hydraulic cylinders.The both ends of four groups of hydraulic cylinder groups are uniformly divided in drive system 2 and front support 6 respectively
Cloth, when knife disc tool system 1 rotates, every group of two hydraulic cylinders can be supported mutually, offset a part of knife cutting torque.This
When every group of utility model of hydraulic cylinder number is more than or equal to two, knife disc tool system 1 is rotated, every group of liquid more than or equal to two
Compressing cylinder can be supported mutually, offset a part of knife cutting torque.When hydraulic cylinder group quantity is four groups, every group two, totally eight
A hydraulic cylinder, be followed successively by No.1 oil cylinder, No. two oil cylinders ... No. eight oil cylinders, ball hinge 3 is in drive system 2 and front support 6
Position difference it is as shown in Figure 7 and Figure 8, in figure, A1 and B1 respectively indicate the both ends of No.1 oil cylinder, and A2 and B2 are respectively indicated
Both ends ... ... the A8 and B8 of No. two oil cylinders respectively indicate the both ends of No. eight oil cylinders.Other structures are the same as embodiment 1.
Embodiment 3
A kind of support of parallel robot, the soft arm development machine that can excavate arbitrary cross-section tunnel, the hydraulic cylinder group have
Three groups, every group there are two hydraulic cylinders.The both ends of three groups of hydraulic cylinder groups are uniformly divided in drive system 2 and front support 6 respectively
Cloth, when knife disc tool system 1 rotates, every group of two hydraulic cylinders can be supported mutually, offset a part of knife cutting torque.Liquid
Compressing cylinder group quantity has three groups, there are two every group, when totally 6 hydraulic cylinders, be followed successively by No.1 oil cylinder, No. two oil cylinders ... six
Number oil cylinder, arrangement are shown in Fig. 9 and Figure 10.Realize parallel manipulator robot arm 14 while transmitting 1 thrust of knife disc tool system
The torque of knife disc tool system 1 can be resisted, 1 posture of knife disc tool system is adjusted, stablizes knife disc tool system 1, in parallel machine
Under the action of device robot arm 14,1 plane of knife disc tool system is parallel with excavated section always.Other structures are the same as embodiment 1.
Embodiment 4
A kind of support of parallel robot, the soft arm development machine that can excavate arbitrary cross-section tunnel, the hydraulic cylinder group have
Three groups, every group has a hydraulic cylinder.The both ends of three groups of hydraulic cylinder groups are uniformly divided in drive system 2 and front support 6 respectively
Cloth, as shown in figure 11, three groups of hydraulic cylinder group front ends are evenly distributed in drive system 2, rear end is evenly distributed on front support 6
On.Other structures are the same as embodiment 1.
Claims (10)
1. a kind of parallel robot support, the soft arm development machine that arbitrary cross-section tunnel can be excavated, including knife disc tool system (1),
Drive system (2), front support (6) and girder (9), front support (6) are arranged on girder (9), the drive system (2) front
It is connect with knife disc tool system (1), it is characterised in that: drive system (2) is soft by parallel manipulator robot arm (14) and front support (6)
Property connection.
2. parallel robot support according to claim 1, the soft arm development machine that arbitrary cross-section tunnel can be excavated, feature
Be: the parallel manipulator robot arm (14) be parallel-connection structure form hydraulic cylinder group (5), hydraulic cylinder group (5) front end with
Drive system (2) articulated connection, rear end and front support (6) are articulated and connected.
3. parallel robot support according to claim 2, the soft arm development machine that arbitrary cross-section tunnel can be excavated, feature
Be: hydraulic cylinder group (5) front end is articulated and connected by ball hinge (3) or universal joint and drive system (2), and rear end is logical
It crosses ball hinge (3) or universal joint and front support (6) is articulated and connected.
4. parallel robot support according to claim 2, the soft arm development machine that arbitrary cross-section tunnel can be excavated, feature
Be: the drive system (2) connects into truss structure, the hydraulic cylinder by hydraulic cylinder group (5) and front support (6)
At least three groups of group (5), every group of at least one hydraulic cylinder.
5. parallel robot support according to claim 4, the soft arm development machine that arbitrary cross-section tunnel can be excavated, feature
Be: the hydraulic cylinder group (5) has three groups, and every group has a hydraulic cylinder.
6. parallel robot support according to claim 4, the soft arm development machine that arbitrary cross-section tunnel can be excavated, feature
Be: the hydraulic cylinder group (5) has three groups, and every group there are two hydraulic cylinders.
7. parallel robot support according to claim 4, the soft arm development machine that arbitrary cross-section tunnel can be excavated, feature
Be: the hydraulic cylinder group (5) has four groups, and every group there are two hydraulic cylinders.
8. parallel robot 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 (13) below the knife disc tool system (1), slag-tapping system (13) front end extends to knife disc tool system
System (1) lower section, rear end are connected with belt feeder (16).
9. parallel robot support according to claim 8, the soft arm development machine that arbitrary cross-section tunnel can be excavated, feature
Be: the slag-tapping system (13) is belt feeder slag-tapping system or screw conveyor slag-tapping system.
10. parallel robot support according to claim 1, the soft arm development machine that can excavate arbitrary cross-section tunnel, special
Sign is: the knife disc tool system (1) is equipped with disk cutter (15)；Steel arch-shelf peace is additionally provided on the girder (9)
Device (7) and jumbolter system (8) are filled, girder (9) is connected by propulsion system (10) with support system (11), support system
(11) rear portion is equipped with rear support leg (12).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821745040.9U CN209129616U (en) | 2018-10-26 | 2018-10-26 | A kind of support of parallel robot, 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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| CN201821745040.9U CN209129616U (en) | 2018-10-26 | 2018-10-26 | A kind of support of parallel robot, the soft arm development machine that arbitrary cross-section tunnel can be excavated |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109488323A (en) * | 2018-10-26 | 2019-03-19 | 中铁工程装备集团有限公司 | Parallel robot 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 |
-
2018
- 2018-10-26 CN CN201821745040.9U patent/CN209129616U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109488323A (en) * | 2018-10-26 | 2019-03-19 | 中铁工程装备集团有限公司 | Parallel robot support, the soft arm development machine that arbitrary cross-section tunnel can be excavated |
| WO2020082747A1 (en) * | 2018-10-26 | 2020-04-30 | 中铁工程装备集团有限公司 | Flexible-arm heading machine having parallel robot support and capable of excavating any section tunnel |
| 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 |
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