CN209190786U - A kind of robot replaced automatically suitable for disk cutter - Google Patents
A kind of robot replaced automatically suitable for disk cutter Download PDFInfo
- Publication number
- CN209190786U CN209190786U CN201821972549.7U CN201821972549U CN209190786U CN 209190786 U CN209190786 U CN 209190786U CN 201821972549 U CN201821972549 U CN 201821972549U CN 209190786 U CN209190786 U CN 209190786U
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- Prior art keywords
- sliding block
- cutter
- dextrous hand
- out against
- tool changing
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
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- 239000012636 effector Substances 0.000 claims description 12
- 238000005096 rolling process Methods 0.000 claims description 2
- 238000010276 construction Methods 0.000 abstract description 9
- 239000000463 material Substances 0.000 abstract description 2
- 230000033001 locomotion Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 7
- 238000009434 installation Methods 0.000 description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 230000006378 damage Effects 0.000 description 2
- 238000000151 deposition Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 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 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 230000034994 death Effects 0.000 description 1
- 231100000517 death Toxicity 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000004519 grease Substances 0.000 description 1
- 230000002427 irreversible effect Effects 0.000 description 1
- 230000001050 lubricating effect Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 238000010008 shearing Methods 0.000 description 1
- 230000005641 tunneling Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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- Automatic Tool Replacement In Machine Tools (AREA)
Abstract
The utility model discloses a kind of robot replaced automatically suitable for disk cutter, the technical issues of solution is that tool changing rate is low in shield and TBM construction, worker's construction risk is big.The utility model includes tool apron and mechanical arm, and tool apron is equipped with hobboing cutter, and the tool apron is connect by manipulator with mechanical arm.The utility model and tool apron matching design tool changing Dextrous Hand and bolt Dextrous Hand, hobboing cutter is clamped by tool changing Dextrous Hand, moving left and right for sliding block is held out against by the control of bolt Dextrous Hand, and then realize the elastic of hobboing cutter, tool changing Dextrous Hand and bolt Dextrous Hand act on simultaneously, do not need manually to participate in tool changing, mechanization degree is high, it is efficient and convenient, use manpower and material resources sparingly.
Description
Technical field
The utility model relates to constructing tunnel fields, and in particular to a kind of robot replaced automatically suitable for disk cutter.
Background technique
Complete-section tunnel boring machine is widely used in the Important Projects such as traffic, water conservancy, national defence field, is to represent country's equipment
Big country's treasure of manufacturing industry level, separate unit equipment cost are up to 500,000,000 yuan.But there is also automatic intelligents for full face tunnel boring machine
Change degree is relatively low, especially represents core job link-tool changing operation of development machine intelligent level at present or manually to change
The international industry that based on knife, face to face when the extreme operating environment such as Lingao pressure/high humidity/corrosion, there is " detection is difficult, tool changing is dangerous " is difficult
Topic, artificial replacement is single to be up to hobboing cutter time-consuming 4 hours, while tool changing total time-consuming at least accounts for the one third of entire duration or more,
And operating personnel is frequently necessary to bear high pressure harm, long working can cause irreversible damage to human body, or even people occur
The major accidents such as member's injures and deaths.
At present in tunneling boring constructing tunnel, the abrasion and replacement of cutter are limit shield and TBM construction efficiency main
One of factor.Related engineering practice shows that in shield construction, since Tu Cang is enclosed high pressure storehouse, tool changing operation needs several special
Industry personnel implement under the premise of with adequate preparation, and completing a tool change time is about 40min or so.In TBM construction, though not
There are situations with pressure, but since tool wear is very fast, and the tool changing frequency increased significantly compared to shield method.Therefore, no matter shield method
Or in TBM construction, realizing automatic tool changer all is the important channel improved tool changing rate, reduce worker's construction risk.
Utility model content
The technical problems to be solved in the utility model is that tool changing rate is low, worker's construction risk is big in shield and TBM construction,
A kind of robot replaced automatically suitable for disk cutter is provided.
In order to solve the above technical problems, the utility model adopts the following technical solutions: one kind being suitable for disk cutter automatically more
The robot changed, including tool apron and end effector of robot, tool apron are equipped with hobboing cutter, and the tool apron passes through robot end
Actuator is connect with mechanical arm.
The end effector of robot includes tool changing Dextrous Hand and bolt Dextrous Hand, and tool changing Dextrous Hand is articulated with bolt
The bottom of Dextrous Hand.
The tool changing Dextrous Hand includes upper and lower arms, and upper and lower arms articulated connection is connected with upper arm and is equipped with upper arm
Oil cylinder is connected with lower arm and is equipped with lower arm oil cylinder.
The bolt Dextrous Hand includes shell, and tool changing Dextrous Hand is hinged on housing bottom, and the upper part of the housing is equipped with
The end of connected unit, mechanical arm is connect by connected unit with bolt Dextrous Hand；The lower part of the housing is equipped with sleeve.
The enclosure interior is equipped with motor, spring and slide plate, and spring is arranged between the upper plate of shell and slide plate, motor
It is fixed on slide plate, the output shaft and sleeve connection of motor.
The housing bottom is additionally provided with sensor.
The tool apron includes cabinet, is equipped with C-shaped block and four-bar mechanism in cabinet, the cutter shaft side of the hobboing cutter sticks into C
In shape block, the other side and four-bar mechanism connect.
It is additionally provided with hobboing cutter channel on the cabinet, is communicated with hobboing cutter channel equipped with No.1 sliding slot, is communicated with No.1 sliding slot
Equipped with No. two sliding slots, the inner cavity in hobboing cutter channel is matched with the outer profile of cutter shaft, and No.1 sliding slot and No. two sliding slots are vertical
Setting.
The four-bar mechanism include be sequentially connected hold out against sliding block, connecting rod, driving sliding block and screw rod, described holds out against cunning
Block is arranged in No.1 sliding slot, and driving sliding block is arranged in No. two sliding slots；The connecting rod is interior with bolt Dextrous Hand upper bush
Chamber matches.
The lower end of the screw rod is spherical shape, drives and is provided with spherical groove in sliding block, and the lower end of screw rod and spherical groove form flexural pivot
It is secondary；Threaded hole is provided on the cabinet, screw rod is connected through a screw thread with cabinet.
Described hold out against offers cavity in sliding block and driving sliding block, connecting rod two end put in cavity respectively with hold out against cunning
Block, driving sliding block articulated connection.
The sliding block that holds out against is wedge block, and the left side inclined-plane for holding out against sliding block is matched with cutter shaft, holds out against the right side of sliding block
Inclined-plane is matched with the lower bevel of driving sliding block；
The cabinet side is equipped with opening, is matched with opening equipped with sliding block end cap.
A kind of application method of the robot replaced automatically suitable for disk cutter, comprising the following steps: mechanical when 1. filling knife
The tool changing Dextrous Hand of arm control end effector of robot takes out the hobboing cutter for depositing in fixed position, is moved to hobboing cutter on cutterhead
Corresponding tool apron position, and cooperate cutter shaft and C-shaped block；The sleeve clamping screw rod of bolt Dextrous Hand simultaneously, in the effect of motor
It is lower to twist through screw rod, make to hold out against sliding block and hold out against cutter shaft, unclamps tool changing Dextrous Hand, retract tool changing Dextrous Hand, complete hobboing cutter installation；2. tearing open
When knife: end effector of robot makes tool changing Dextrous Hand move to tool apron position under the control of mechanical arm, by sensor and
The machinery positioning ability of end effector of robot clamps hobboing cutter, and motor is made to work, and unclamps screw rod, and then makes to hold out against sliding block release
Cutter shaft, mechanical arm drive the tool changing Dextrous Hand of end effector of robot is mobile to take out hobboing cutter.
The utility model devises a kind of tool apron of achievable hobboing cutter fast assembling-disassembling for adaptation mechanical hand exchanging knives process,
And bolt dexterity is passed through by tool changing Dextrous Hand clamping hobboing cutter with tool apron matching design tool changing Dextrous Hand and bolt Dextrous Hand
Hand control holds out against moving left and right for sliding block, and then realizes the elastic of hobboing cutter, and tool changing Dextrous Hand and bolt Dextrous Hand act on simultaneously, no
Need manually to participate in tool changing, mechanization degree is high, it is efficient and convenient, use manpower and material resources sparingly.
Detailed description of the invention
Fig. 1 is the utility model structure diagram；
Fig. 2 is that the utility model tool changing Dextrous Hand matches status architecture schematic diagram with tool apron；
Fig. 3 is the utility model tool changing clever hands schematic diagram；
Fig. 4 is the utility model bolt clever hands schematic diagram；
Fig. 5 is the utility model bolt Dextrous Hand bottom surface structure schematic diagram；
Fig. 6 is the utility model tool apron schematic perspective view；
Fig. 7 is structural schematic diagram of the utility model four-bar mechanism in right end, hobboing cutter loading；
Fig. 8 is structural representation of the utility model four-bar mechanism at right end, hobboing cutter taking-up or loading to hobboing cutter channel
Figure；
Fig. 9 is structural schematic diagram of the utility model without knife-like state, four-bar mechanism in left end.
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.
As shown in Figures 1 to 9, a kind of robot replaced automatically suitable for disk cutter, including tool apron 1 and mechanical arm 5, knife
Seat 1 is equipped with hobboing cutter 2, and the tool apron 1 is connect by end effector of robot with mechanical arm 5, as shown in Figure 1.
The end effector of robot includes tool changing Dextrous Hand 3 and bolt Dextrous Hand 4, and tool changing Dextrous Hand 3 is articulated with
The bottom of bolt Dextrous Hand 4.
As shown in Figures 2 and 3, the tool changing Dextrous Hand 3 includes upper arm 301 and lower arm 302, upper arm 301 and lower arm 302
Articulated connection is connected with upper arm 301 and is equipped with upper arm oil cylinder 303, is connected with lower arm 302 and is equipped with lower arm oil cylinder 304.
The inside of the upper arm 301 and lower arm 302 is arc surface, the radian of arc surface and 2 cutter ring 202 of hobboing cutter it is outer
Match profiles are closed.The utility model controls the folding of tool changing Dextrous Hand 3 by upper arm oil cylinder 303 and lower arm oil cylinder 304.Upper arm
301 and the shape and structure of arc surface of the inside of lower arm 302 match with the shape and structure of general hobboing cutter cutter ring two sides at present；Due to
After girff is packed into hobboing cutter at present, hobboing cutter two sides space size is different, the arc surface of the utility model upper arm 301 and lower arm 302
Arc surface forms the circular arc for being greater than 180 degree to adapt to girff space, and guarantees its chuck(ing) capacity.
As shown in Figure 4 and Figure 5, the bolt Dextrous Hand 4 includes shell 401, and tool changing Dextrous Hand 3 is hinged on shell 401
Bottom, 401 top of shell are equipped with connected unit 402, and the end of mechanical arm 5 is connected by connected unit 402 and bolt Dextrous Hand 4
It connects；401 lower part of shell is equipped with sleeve 403.There are articulated position, tool changing Dextrous Hands 3 for 401 bottom of the utility model shell
Upper arm 301, upper arm oil cylinder 303, lower arm oil cylinder 304 be hinged on 401 bottom of shell；Connected unit 402 and 5 end phase of mechanical arm
Even, totally two, sleeve 403, sleeve 403 is matched with screw rod, controls the rotation of screw rod.
Motor 405, spring 406 and slide plate 407 are equipped with inside the shell 401, shell 401 is arranged in spring 406
Between upper plate and slide plate 407, motor 405 is fixed on slide plate 407, and the output shaft of motor 405 is connect with sleeve 403.Motor 405
Totally two, motor 405 provides power to twist screw rod, and motor is fixed on slide plate 407, is acted on slide plate by the elastic force of spring 406
Initial position is located at bottom in shell 401, and when twisting screw rod, as screw rod is back-outed upwards, slide plate is made by the upward thrust of screw rod
With slide plate is moved upwards with motor, back-outs resigning for screw rod.The speed reducer of the utility model motor is mainly used to drive knife
The upper screw rod of seat, moves up and down by screw flight.
401 bottom of shell is additionally provided with sensor 404.For positioning the screw rod of hobboing cutter position and tool apron.
As shown in Figures 6 to 9, the tool apron 1 includes cabinet 101, is equipped with C-shaped block 102 and four bar machines in cabinet 101
Structure, 201 side of cutter shaft of the hobboing cutter 2 sticks into C-shaped block 102, the other side and four-bar mechanism connect.The C-shaped block 102 is
General C-shaped block structure, is welded in 101 when hobboing cutter is installed at present.Hobboing cutter 2 is current shield machine, the upper common dish type rolling of TBM
Knife.
It is additionally provided with hobboing cutter channel 110 on the cabinet 101, is communicated with hobboing cutter channel 110 equipped with No.1 sliding slot 111, with
No.1 sliding slot 111 is communicated equipped with No. two sliding slots 112, and the inner cavity in the hobboing cutter channel 110 and the outer profile of cutter shaft 201 match
It closes, No.1 sliding slot 111 and No. two sliding slots 112 are vertically arranged.The width in hobboing cutter channel 110 is 5- bigger than the maximum width of cutter shaft 201
10mm, hobboing cutter are taken out or are packed by the channel.
The four-bar mechanism include be sequentially connected hold out against sliding block 103, connecting rod 104, driving sliding block 105 and screw rod 106,
The sliding block 103 that holds out against is arranged in No.1 sliding slot 111, and driving sliding block 105 is arranged in No. two sliding slots 112；The company
Bar 104 is matched with the inner cavity of 4 upper bush 403 of bolt Dextrous Hand.It holds out against sliding block 103 and driving sliding block 105 is installed vertically on one
In number sliding slot 111 and No. two sliding slots 112, sliding block 103 and driving sliding block 105 are held out against with the connection of connecting rod 104, driving sliding block 105 can
It is moved up and down with the rotation of screw rod 106 along No. two sliding slots 112, holds out against the left and right in No.1 sliding slot 111 of sliding block 103 to drive
It is mobile；It No.1 sliding slot 111 and holds out against between sliding block 103 equipped with sealing device, prevents silt and water etc. from polluting slideway, hold out against sliding block
103 are both needed to the heat of progress certain depth with the contact surface of the contact surface of No.1 sliding slot 111, driving sliding block 105 and No. two sliding slots 112
Processing.Lubricating grease is stored in No.1 sliding slot 111 and No. two sliding slots 112, so that double-slider can be with flexible motion.
The lower end of the screw rod 106 is spherical shape, drives in sliding block 105 and is provided with spherical groove, the lower end of screw rod 106 and spherical groove
Form typed ball bearing pair；Threaded hole is provided on the cabinet 101, screw rod 106 is connected through a screw thread with cabinet 101.It drives in sliding block
Spherical groove can be the shapes such as cylinder, cone, rotated inside it convenient for the lower end of screw rod, and drive driving sliding block on
Lower movement；The utility model rotates screw rod 106, can control the movement of driving sliding block 105.When production, screw rod 106 need to carry out hot place
It manages, is sealed on screw rod 106 equipped with O shape, prevent four-bar mechanism by the pollution of silt and water.
Described holding out against in sliding block 103 and driving sliding block 105 offers cavity 114, and 104 both ends of connecting rod put in cavity
In 114 respectively with hold out against sliding block 103, driving sliding block 105 be articulated and connected.Cavity size is according to the motion range of connecting rod connecting rod 104
It determines.The articulated position of connecting rod 104 needs to be calculated according to the size and moving distance that hold out against sliding block 103 and driving sliding block 105,
Ensure to hold out against sliding block 103 and driving sliding block 105 does not interfere during the motion, is not formed in two pole locations dead
Point.The utility model connecting rod needs thermally treated, it is desirable that tension with higher, shearing strength.
The sliding block 103 that holds out against is wedge block, and the left side inclined-plane for holding out against sliding block 103 is matched with cutter shaft 201, holds out against cunning
The right side inclined-plane of block 103 is matched with the lower bevel of driving sliding block；
103 left side inclined-plane of sliding block is held out against for holding out against cutter shaft, tilt angle is identical according to the tilt angle of cutter shaft, contact
When, it holds out against 103 left side inclined-plane of sliding block and is bonded with cutter shaft；103 right side inclined-plane of sliding block is held out against to match with driving sliding block lower bevel.
It is described in the utility model to hold out against 103 right side inclined-plane of sliding block and the angle of sliding block lower bevel is driven to be set as 45 ° and be
Optimal, the setting on inclined-plane is avoided holding out against in sliding block 103 and driving 105 motion process of sliding block and be interfered.
101 side of cabinet is equipped with opening, is matched with opening equipped with sliding block end cap 116.It opens 101 side of cabinet
Mouthful, sliding block 103 and driving sliding block 105 are held out against for installing, sliding block 103 is held out against and driving sliding block 105 is packed into rear cover top shoe end
Lid 116 is simultaneously sealed using thread connecting mode or welding manner.Connecting plate 117 is equipped on the outside of cabinet 101, connecting plate 117 is used for
Cabinet 101 is fixed on cutterhead.In the utility model tool apron 1 when the installation and taking-up of hobboing cutter, following steps: spiral shell are specifically used
Bar 106 is back-outed, and drives driving sliding block 105 to move upwards by typed ball bearing pair, driving sliding block 105 holds out against cunning by the drive of connecting rod 104
Block 103 is mobile, and the movement for holding out against sliding block 103 is stepped down to cutter shaft, and cutter shaft is made to enter hobboing cutter channel from the No.1 sliding slot of connection, or from
Hobboing cutter channel enters No.1 sliding slot, and then completes the loading or taking-up of hobboing cutter；After hobboing cutter is packed into C-shaped block, screw rod 106 is tightened, root
According to screw rod be screwed into distance or screw-down torque judge whether to tighten, drive driving sliding block 105 move, driving sliding block 105 pass through company
Bar drive holds out against sliding block 103 and moves and then hold out against cutter shaft, drives sliding block at this time and holds out against sliding block and be exactly in contact with, two sliding blocks pass through knife
Axis and slider end caping are dead, complete stepping up for hobboing cutter.
A kind of robot replaced automatically suitable for disk cutter and its application method, comprising the following steps: when 1. filling knife, machine
The tool changing Dextrous Hand 3 that tool arm 5 controls manipulator takes out the hobboing cutter for depositing in fixed position, is moved to hobboing cutter 2 on cutterhead corresponding
Tool apron position, and cooperate cutter shaft 201 and C-shaped block 102；The 403 clamping screw rod 106 of sleeve of bolt Dextrous Hand 4 simultaneously, in electricity
It twists under the action of machine 405 through screw rod 106, makes to hold out against sliding block 103 and hold out against cutter shaft 201, unclamp tool changing Dextrous Hand 3, retract tool changing spirit
Dab hand 3 completes hobboing cutter installation；2. tear knife open: manipulator makes tool changing Dextrous Hand 3 move to tool apron position under the control of mechanical arm 5
It sets, hobboing cutter is clamped by the machinery positioning ability of sensor 404 and manipulator and end effector of robot, makes 405 work of motor
Make, unclamp screw rod 406, and then make to hold out against the release cutter shaft of sliding block 103, mechanical arm 5 drives end effector of robot movement to take out
Hobboing cutter.When utility model works, tool changing Dextrous Hand 3 and bolt tool changing Dextrous Hand 4 collectively constitute the manipulator of mechanical arm dexterity；
The utility model mechanical arm is the mechanical arm of 6DOF mechanical arm or more, and mechanical arm is installed on mechanical arm pedestal 6
On, mechanical arm pedestal 6 is can be with linear slide platform.
Claims (11)
1. a kind of robot replaced automatically suitable for disk cutter, including tool apron (1) and mechanical arm (5), tool apron (1) is equipped with rolling
Knife (2), it is characterised in that: the tool apron (1) is connect by end effector of robot with mechanical arm (5).
2. the robot according to claim 1 replaced automatically suitable for disk cutter, it is characterised in that: the robot
End effector includes tool changing Dextrous Hand (3) and bolt Dextrous Hand (4), and tool changing Dextrous Hand (3) is articulated with bolt tool changing Dextrous Hand
(3) bottom of (4).
3. the robot according to claim 2 replaced automatically suitable for disk cutter, it is characterised in that: the tool changing spirit
Dab hand (3) includes upper arm (301) and lower arm (302), and upper arm (301) and lower arm (302) are articulated and connected, are connected with upper arm (301)
Equipped with upper arm oil cylinder (303), it is connected with lower arm (302) and is equipped with lower arm oil cylinder (304).
4. the robot according to claim 2 replaced automatically suitable for disk cutter, it is characterised in that: the bolt spirit
Dab hand (4) includes shell (401), and tool changing Dextrous Hand (3) is hinged on shell (401) bottom, and the shell (401) top is equipped with
The end of connected unit (402), mechanical arm (5) is connect by connected unit (402) with bolt Dextrous Hand (4)；The shell (401)
Lower part is equipped with sleeve (403).
5. the robot according to claim 4 replaced automatically suitable for disk cutter, it is characterised in that: the shell
(401) internal to be equipped with motor (405), spring (406) and slide plate (407), spring (406) be arranged shell (401) upper plate and
Between slide plate (407), motor (405) is fixed on slide plate (407), and the output shaft of motor (405) is connect with sleeve (403).
6. the robot according to claim 2 replaced automatically suitable for disk cutter, it is characterised in that: the tool apron
(1) include cabinet (101), be equipped with C-shaped block (102) and four-bar mechanism, the cutter shaft (201) one of the hobboing cutter (2) in cabinet (101)
Side sticks into C-shaped block (102), the other side and four-bar mechanism connect.
7. the robot according to claim 6 replaced automatically suitable for disk cutter, it is characterised in that: the cabinet
(101) it is additionally provided with hobboing cutter channel (110) on, is communicated with hobboing cutter channel (110) equipped with No.1 sliding slot (111), with No.1 sliding slot
(111) it communicates equipped with No. two sliding slots (112), the inner cavity in the hobboing cutter channel (110) and the outer profile of cutter shaft (201) match
It closes, No.1 sliding slot (111) and No. two sliding slots (112) are vertically arranged.
8. the robot according to claim 6 replaced automatically suitable for disk cutter, it is characterised in that: the four bar machines
Structure include be sequentially connected hold out against sliding block (103), connecting rod (104), driving sliding block (105) and screw rod (106), described holds out against cunning
Block (103) setting is in No.1 sliding slot (111), and driving sliding block (105) setting is in No. two sliding slots (112)；The connecting rod
(104) it is matched with the inner cavity of bolt Dextrous Hand (4) upper bush (403).
9. the robot according to claim 8 replaced automatically suitable for disk cutter, it is characterised in that: the screw rod
(106) lower end is spherical shape, and spherical groove is provided in driving sliding block (105), and the lower end of screw rod (106) and spherical groove form flexural pivot
It is secondary；Threaded hole is provided on the cabinet (101), screw rod (106) is connected through a screw thread with cabinet (101).
10. the robot according to claim 8 replaced automatically suitable for disk cutter, it is characterised in that: described holds out against
It is offered cavity (114) in sliding block (103) and driving sliding block (105), connecting rod (104) both ends are put in cavity (114) respectively
With hold out against sliding block (103), driving sliding block (105) articulated connection.
11. the robot according to claim 8 replaced automatically suitable for disk cutter, it is characterised in that: described holds out against
Sliding block (103) is wedge block, and the left side inclined-plane for holding out against sliding block (103) is matched with cutter shaft (201), holds out against the right side of sliding block (103)
Skew back face is matched with the lower bevel of driving sliding block；
Cabinet (101) side is equipped with opening, is matched with opening equipped with sliding block end cap (116).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821972549.7U CN209190786U (en) | 2018-11-28 | 2018-11-28 | A kind of robot replaced automatically suitable for disk cutter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821972549.7U CN209190786U (en) | 2018-11-28 | 2018-11-28 | A kind of robot replaced automatically suitable for disk cutter |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209190786U true CN209190786U (en) | 2019-08-02 |
Family
ID=67426383
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821972549.7U Withdrawn - After Issue CN209190786U (en) | 2018-11-28 | 2018-11-28 | A kind of robot replaced automatically suitable for disk cutter |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209190786U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109434849A (en) * | 2018-11-28 | 2019-03-08 | 中铁工程装备集团有限公司 | A kind of robot replaced automatically suitable for disk cutter and its application method |
| WO2020108094A1 (en) * | 2018-11-28 | 2020-06-04 | 中铁工程装备集团有限公司 | Novel hobbing cutter holder capable of quick cutter replacement, and cutter replacement method therefor |
-
2018
- 2018-11-28 CN CN201821972549.7U patent/CN209190786U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109434849A (en) * | 2018-11-28 | 2019-03-08 | 中铁工程装备集团有限公司 | A kind of robot replaced automatically suitable for disk cutter and its application method |
| WO2020108094A1 (en) * | 2018-11-28 | 2020-06-04 | 中铁工程装备集团有限公司 | Novel hobbing cutter holder capable of quick cutter replacement, and cutter replacement method therefor |
| CN109434849B (en) * | 2018-11-28 | 2023-08-01 | 中铁工程装备集团有限公司 | Robot suitable for automatic replacement of disc cutter and use method thereof |
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