CN210732480U

CN210732480U - Mechanical arm end effector for replacing TBM single-edge hob

Info

Publication number: CN210732480U
Application number: CN201920642080.9U
Authority: CN
Inventors: 徐攀; 刘建琴; 郭伟; 张森; 乔金丽
Original assignee: Tianjin University
Current assignee: Tianjin University
Priority date: 2019-05-07
Filing date: 2019-05-07
Publication date: 2020-06-12
Anticipated expiration: 2029-05-07

Abstract

The utility model discloses an end effector of mechanical arm for replacing TBM single-edged hob, which comprises a box body, a single-edged hob clamping module, a bolt tightening device, a driving module thereof, a pressing block, a bolt recovery module and a connecting plate, wherein the single-edged hob clamping module is provided with a bidirectional hydraulic cylinder which acts on a connecting rod to drive a symmetrically arranged V-shaped tubular finger to clamp the hob; the bolt tightener and the driving module thereof are provided with a motor, and the driving wheel train drives the bolt tightening and loosening device to disassemble and assemble the bolt; the pressing block and bolt recovery module is provided with an electromagnet and matched with the bolt tightener to complete recovery; the box body integrates the functional modules into a whole. The connecting plate is connected with the actuator and the mechanical arm. The utility model discloses an end effector of arm can use with TBM tool changing arm and the cooperation of TBM single-edged hob mounting seat, trades the single-edged hob automatically, replaces artifical tool changing. The utility model discloses convenient operation can effectively retrieve the part and improve tool changing efficiency, accords with green design theory, reduces the construction risk of tool changing operation.

Description

Mechanical arm end effector for replacing TBM single-edge hob

Technical Field

The utility model relates to a full section rock Tunnel Boring Machine (TBM), in particular to arm end effector that is used for TBM single-blade hobbing cutter to trade.

Background

As a tunnel construction machine, in the construction of a full-face tunnel boring machine (TBM for short), due to the complex working condition and the serious damage of key parts in the construction process, a hob arranged on a cutter head is a vulnerable key part influencing tunnel boring and needs to be replaced in time. At present, manual tool changing is commonly adopted in tunnel construction, and the method is divided into normal-pressure tool changing or under-pressure tool changing according to different manual tool changing environments, wherein the former has high requirements on geological conditions and is difficult to meet common working conditions; the cutter changing operation personnel can be suitable for different geological conditions, but the requirement on the physical quality of the cutter changing operation personnel is high, and only the personnel who pass physical examination and pressure test and are trained can enter the warehouse under pressure. The existing and applicable manual tool changing technology not only has strict requirements on operators, but also threatens the safety of the operators due to uncontrollable factors brought by the complexity of working conditions; on the other hand, in order to provide an operating environment for operators, the TBM must provide auxiliary equipment for auxiliary operation, which increases the complexity of the TBM and consumes a great deal of time.

Because the tool changing operation problem that cutter wearing and tearing brought, some scholars from the source analysis, the research blade disc overall arrangement, cutter material and structure scheduling problem of putting forth, aim at reducing the tool changing number of times, meanwhile, to the inefficiency, the security threat, the corollary equipment complicacy scheduling problem that artifical tool changing appears, have a lot of scholars to the automatic tool changing technique, propose to adopt the arm to replace artifical tool changing.

SUMMERY OF THE UTILITY MODEL

To the above-mentioned prior art, the utility model discloses based on prior art, the utility model aims at providing an end effector of arm that is used for TBM single-blade hobbing cutter to trade to get can realize the centre gripping to hobbing cutter installation axle, to the dismouting of bolt, to the recovery of briquetting and bolt.

In order to solve the technical problem, the utility model provides an end effector of mechanical arm for replacing a TBM single-blade hob, which comprises a box body, a single-blade hob clamping module, a bolt tightening and loosening device and a driving module thereof, a pressing block and a bolt recycling module; the single-edge hob clamping module comprises a bidirectional hydraulic oil cylinder and two sets of finger components; the bidirectional hydraulic oil cylinder is arranged at the rear end of the box body through a hydraulic cylinder mounting plate and comprises two earrings; the two sets of finger components have the same structure and are symmetrically arranged on the upper side and the lower side of the box body; the finger part comprises a connecting rod, a spline shaft, two finger fixing seats and two tubular V-shaped fingers; one end of the connecting rod is provided with a sliding chute, a sliding rod is assembled in the sliding chute and matched with an ear ring on the bidirectional hydraulic oil cylinder, the axial movement of the sliding rod is limited by a first pin shaft and a stop block, the other end of the connecting rod is provided with a spline hole matched with the spline shaft, and the spline shaft is installed on the box body through a spline shaft installation seat through a bolt; the two finger fixing seats are provided with spline holes and assembled at two ends of the spline shaft; each finger fixing seat is provided with a blind hole, one end of each of two tubular V-shaped fingers is inserted into one blind hole and fixed with the finger fixing seat through a pin shaft, the other end of each tubular V-shaped finger is a free end, one side of the fixed end of each tubular V-shaped finger is a straight line segment, and one side of the free end of each tubular V-shaped finger is a V-shaped segment; the bolt tightening and loosening device and the driving module thereof comprise a motor, a mounting plate and a central shaft, wherein the mounting plate comprises a mounting vertical plate and a mounting flat plate which are connected into a whole, a bearing support is arranged on the mounting flat plate, the motor is mounted on the mounting flat plate, sliding blocks are arranged on two sides of the mounting flat plate, sliding grooves matched with the sliding blocks are arranged on two side walls in the box body, the mounting vertical plate is positioned at the front part of the mounting flat plate, three shaft holes which are parallel and level in height and parallel in axis are arranged on the mounting vertical plate, the three shaft holes are marked as a central shaft hole, and a first; the central shaft is supported by the bearing support and the central shaft, an output shaft of the motor is connected with one end of the central shaft through a coupler, a central gear is arranged on the central shaft, the other end of the central shaft penetrates through the central shaft hole and a front panel of the box body and is connected with a central threaded rod through a flange part, a threaded block is assembled on the central threaded rod, and the threaded block is fixed with the box body; a first gear shaft and a second gear shaft are respectively arranged in the first shaft hole and the second shaft hole, and a first planet wheel and a second planet wheel which are respectively meshed with the central gear are respectively arranged at one end of the first gear shaft and one end of the second gear shaft; the other ends of the first gear shaft and the second gear shaft penetrate through a front panel of the box body and are respectively connected with a bolt tightener through a flange; the bolt tightener comprises a flange sleeve connected with the flange, a first spring, a convex block and a concave block are sequentially arranged in the flange sleeve from the rear end to the front end, a groove is axially formed in the side wall of the flange sleeve and from the rear end of the flange sleeve, a radial pin shaft is arranged on the convex block, and the radial pin shaft is embedded in the groove; the opposite end surfaces of the concave block and the convex block are matched by inclined planes arranged after four divisions, and the other end of the concave block is a bolt dismounting rod with a square and flat structure and penetrates out of the front end of the flange sleeve; the pressing block and bolt recovery module comprises an electromagnet mounting plate, two upright posts parallel to the central shaft are fixed on a front panel of the box body, radial pin holes are formed in the end parts of the two upright posts, through holes aligned with the central shaft, the two bolt tensioners and the two upright posts respectively are formed in the electromagnet mounting plate, a second spring is sleeved on each upright post, the electromagnet mounting plate is mounted on the two upright posts, and then the electromagnet mounting plate is fixed by pins matched with the radial pin holes; four electromagnets which are symmetrically arranged up and down and left and right are arranged on the electromagnet mounting plate.

The utility model discloses an arm end effector that is used for TBM single-blade hobbing cutter to trade, wherein, preceding the comparison of electro-magnet bolt dismouting pole is preceding by preceding.

And a connecting plate is fixed at the rear end of the box body and used for connecting the mechanical arm end effector with the mechanical arm end joint.

Compared with the prior art, the beneficial effects of the utility model are that:

the utility model discloses an end effector of arm can use with TBM tool changing arm and the cooperation of TBM single-edged hob mounting seat, trades the single-edged hob automatically, replaces artifical tool changing. The end effector of the mechanical arm mainly comprises a box body, a single-blade hob clamping module, a bolt tightening device, a driving module of the bolt tightening device, a pressing block and a bolt recovery module, and is connected with an end joint of the mechanical arm through a connecting plate; the single-edge hob clamping module is provided with a bidirectional hydraulic oil cylinder, acts on the connecting rod and drives the symmetrically arranged V-shaped tubular fingers to clamp the hob; the bolt tightener and the driving module thereof are provided with a motor, and the driving wheel train drives the bolt tightener to disassemble and assemble the bolt; the pressing block and bolt recovery module is provided with an electromagnet and matched with the bolt tightener to complete recovery; the three functional modules are integrated in the box body to form a whole. The utility model discloses arm end effector convenient operation can effectively retrieve the part and improve tool changing efficiency, accords with the green design theory, reduces the construction risk of tool changing operation.

Drawings

Fig. 1 is an appearance schematic diagram of a mechanical arm end effector for TBM single-blade hob exchange according to the present invention;

FIG. 2 is a schematic structural view of the container body of FIG. 1 with the container body removed;

fig. 3 is a schematic view of the end effector of the robot arm of the present invention as viewed from the rear end of fig. 1;

FIG. 4-1 is a front view of the single-edged hob gripping module shown in FIG. 1;

FIG. 4-2 is a side view of the single-edged hob gripping module shown in FIG. 4-1;

FIG. 4-3 is a partial cross-sectional view A-A of FIG. 4-2;

FIG. 4-4 is a partial cross-sectional view B-B of FIG. 4-2;

FIG. 5-1 is a top view of the connection plate shown in FIG. 3;

FIG. 5-2 is a rear view of the connection plate shown in FIG. 3;

FIG. 6 is a schematic view of the bolt tensioner and its drive module shown in FIG. 2;

FIG. 7-1 is a schematic view showing the internal structure of the bolt tensioner shown in FIG. 6;

FIG. 7-2 is a schematic external view of the bolt tensioner shown in FIG. 6;

fig. 8 is a schematic view of the assembly relationship between the bolt tightening/loosening device and the driving module thereof and the box body according to the present invention;

FIG. 9-1 is a top view of the middle briquetting and bolt recovery module of the present invention;

FIG. 9-2 is a side view of the center press block and bolt recovery module of the present invention;

FIGS. 9-3 are end views of the center press block and bolt recovery module of the present invention;

fig. 10 is a schematic view of the box body of the present invention.

In the figure:

1-single-edged hob clamping module, 2-bolt tightening device and driving part of driving module, 3-bolt tightening device and tightening device of driving module, 4-briquetting and bolt recovery module, 5-box, 6-connecting plate, 7-rear box wall, 8-lower panel, 9-slide bar, 10-bidirectional hydraulic cylinder, 11-stop, 12-first pin shaft, 13-connecting bar, 14-spline shaft, 15-spline shaft mounting seat, 16-finger fixing seat, 17-pin shaft, 18A-straight line section, 18B-V-shaped section, 19-motor, 20-coupler, 21-bearing support, 22A-first planet gear, 22B-center gear, 22C-second planet gear, 23A-first gear shaft, 23B-central shaft, 23C-second gear shaft, 24A-mounting vertical plate, 24B-mounting flat plate, 25A-flange, 25B-flange part, 26-flange sleeve, 27-thread block, 28-central threaded rod, 29-sliding block, 30-first spring, 31-radial pin shaft, 32-convex block, 33-concave block, 34-front panel, 35-sliding groove, 36-right panel, 37-upper panel, 38-left panel, 39-electromagnet, 40-upright post, 41-pin shaft 4, 42-second spring, 43-electromagnet mounting plate and 44-fastening screw.

Detailed Description

The present invention will be further described with reference to the following drawings and specific examples, but the following examples are by no means limiting the present invention.

As shown in fig. 1 and 2, the utility model provides an end effector of arm for TBM single-edged hob gets, press from both sides including box 5, single-edged hob and get module 1, bolt take-up unit and drive module and briquetting and bolt recovery module 4. The bolt tightening and loosening device and the driving module thereof comprise a bolt tightening and loosening device and a driving part 2 of the driving module thereof, and a bolt tightening and loosening device and a tightening and loosening device 3 of the driving module thereof.

As shown in fig. 8 and 10, the box body 5 includes an upper panel 37, a lower panel 8, a front panel 34, a left panel 38 and a right panel 36, a plurality of through holes for passing relevant components are provided on the front panel 34, a connecting plate 6 for connecting the end effector of the robot arm of the present invention and the end joint of the robot arm is fixed at the rear end of the box body 5, and the structure of the connecting plate is shown in fig. 5-1 and 5-2.

As shown in fig. 1, 2 and 3, the single-blade hob clamping module 1 of the present invention includes a bidirectional hydraulic cylinder 10 and two sets of finger components; the bidirectional hydraulic oil cylinder 10 is installed at the rear end of the box body 5 through a hydraulic cylinder installation plate, and the bidirectional hydraulic oil cylinder 10 comprises two earrings.

The two sets of finger components have the same structure and are symmetrically arranged on the upper side and the lower side of the box body 5; as shown in fig. 4-1 and 4-2, the finger part includes a connecting rod 13, a spline shaft 14, two finger holders 16 and two tubular V-shaped fingers; a sliding groove is formed in one end of the connecting rod 13, a sliding rod 9 is assembled in the sliding groove, the sliding rod 9 is matched with an ear ring on the bidirectional hydraulic oil cylinder 10, the axial movement of the sliding rod 9 is limited by a stop block 11, a first pin shaft 12 and the stop block 11, as shown in fig. 4-3 and 4-4, a spline hole is formed in the other end of the connecting rod 13 and matched with the spline shaft 14; the spline shaft 14 is mounted on the box 5 through a spline shaft mount 15 via bolts; the two finger fixing seats 16 are provided with spline holes and assembled at two ends of the spline shaft 14; each finger fixing seat 16 is provided with a blind hole, one end of each of the two tubular V-shaped fingers is inserted into one blind hole, and is fixed with the finger fixing seats 16 through a pin shaft 17, each finger fixing seat 16 is provided with a spline hole matched with the spline shaft 14, the finger fixing seat 16 is provided with a blind hole, one end of the tubular V-shaped finger is inserted into the blind hole, and is fixed with the finger fixing seat 16 through a pin shaft 17, the other end of the tubular V-shaped finger is a free end, one side of the fixed end of the tubular V-shaped finger is a straight line section 18A, so as to adapt to the size of the box body 5, one side of the free end of the tubular V-shaped finger is provided with a V-shaped section 18B, for gripping a mounting shaft that cooperates with the hob, as shown in figures 1, 2, 3, 4-1 and 4-2, the two-way hydraulic oil cylinder 10 drives the tubular V-shaped fingers to open and close to clamp the hob.

As shown in fig. 6 and 8, the bolt tightening device and the driving module thereof include a motor 19, a mounting plate and a central shaft 23B, the mounting plate includes a mounting vertical plate 24A and a mounting flat plate 24B connected as a whole, the mounting flat plate 24B is provided with a bearing support 21, the motor 19 is mounted on the mounting flat plate 24B, two sides of the mounting flat plate 24B are provided with sliders 29, two side walls in the box body 5 are provided with sliding grooves 35 matched with the sliders 29, and the sliding grooves 35 are mounted on the box body through bolts and slidably connected with the sliders 29 mounted on the side surfaces of the mounting flat plate 24B. The mounting vertical plate 24A is positioned at the front part of the mounting flat plate 24B, three shaft holes which are parallel and level in height and parallel in axis are arranged on the mounting vertical plate 24A, and the three shaft holes are marked as a central shaft hole, a first shaft hole and a second shaft hole; the central shaft 23B is supported by the bearing support 21 and a central shaft hole, an output shaft of the motor 19 is connected with one end of the central shaft 23B through a coupling 20, a central gear 22B is arranged on the central shaft 23B, the other end of the central shaft 23B penetrates through the central shaft hole and a front panel 34 of the box body and is connected with a central threaded rod 28 through a flange part 25B, a threaded block 27 is assembled on the central threaded rod 28, and the threaded block 27 is fixed with the box body 5; a first gear shaft 23A and a second gear shaft 23C are respectively arranged in the first shaft hole and the second shaft hole, and a first planet wheel 22A and a second planet wheel 22C which are respectively meshed with the central gear 22B are respectively arranged at one end of the first gear shaft 23A and one end of the second gear shaft 23C; the other ends of the first gear shaft 23A and the second gear shaft 23C penetrate through a front panel 34 of the box body and are respectively connected with a bolt tightener through a flange 25A; as shown in fig. 7-1 and 7-2, the bolt tensioner includes a flange sleeve 26 connected to the flange 25A, a first spring 30, a convex block 32 and a concave block 33 are sequentially disposed in the flange sleeve 26 from the rear end to the front end, a slot is axially disposed on the side wall of the flange sleeve 26 from the rear end of the flange sleeve 26, a radial pin 31 is disposed on the convex block 32, and the radial pin 31 is embedded in the slot; the end faces of the concave block 33 opposite to the convex block 32 are matched with inclined planes which are arranged after four-division, and the other end of the concave block 33 is a bolt dismounting rod with a square flat structure and penetrates out from the front end of the flange sleeve 26. The further detailed description is: the one end of lug 32 is equipped with the through-hole, the other terminal surface circumference of lug 32 sets up the inclined plane after four graduation, follow the terminal surface to lug 32 is inside to be seen, the inclined plane by low uprising on the clockwise, the one end of concave piece 33 be equipped with the inclined plane with lug 32 cooperation, the other end of concave piece 33 is equipped with bolt dismouting pole, the one end of flange cover 26 pass through the bolt with flange 25A rigid coupling, the other end of flange cover 26 be equipped with bolt dismouting pole complex through-hole, the inside suit matched with of flange cover 26 concave piece 33, lug 32 and the first spring 30 that pretension was used, the lateral wall of flange cover 26 is opened has the spout and is installed radial round pin axle 31 cooperation on lug 32. The motor 19 drives the just reversal of the train that comprises sun gear 22B, first planet wheel 22A and second planet wheel 22C, thereby drives bolt tensioner's just reversal, sun gear 22B's rotation drive threaded rod 28 rotates relatively, drives on the installation flat plate 24B the relative spout 35 of slider 29 removes, thereby drives bolt tensioner axial displacement, wherein, the inclined plane position of lug 32 arrange with first spring 30 cooperation is used, can make the too big dropout of moment of torsion when screwing up the bolt and play the guard action, can guarantee to provide sufficient moment of torsion when dismantling the bolt.

As shown in fig. 9-1, 9-2 and 9-3, the press block and bolt recovery module 4 includes an electromagnet mounting plate 43, two columns 40 parallel to the central shaft 23B are fixed on the front panel 34 of the box 5, radial pin holes are provided at the end portions of the two columns 40, through holes aligned with the central shaft 23B, the two bolt tensioners and the two columns are provided on the electromagnet mounting plate 43, a second spring 42 is sleeved on each column 40, the electromagnet mounting plate 43 is mounted on the two columns 40 and is close to the pretensioned second spring 42, and the electromagnet mounting plate 43 is axially fixed by a pin 41 after passing through the column hole by the column 40; four electromagnets 39 which are symmetrically arranged up and down and left and right are arranged on the electromagnet mounting plate 43 through set screws 44, and the front surface of each electromagnet 39 is closer to the front surface of the bolt dismounting rod. The electromagnet is matched with the second spring 30 for use, so that the electromagnet 39 can be in close contact with the pressing block in the process of assembling and disassembling the bolt, and the contact between the bolt and the bolt assembling and disassembling rod is also ensured while the electromagnet 39 is ensured to adsorb the pressing block.

Although the present invention has been described with reference to the accompanying drawings, the present invention is not limited to the above embodiments, which are only illustrative and not restrictive, and those skilled in the art can make many modifications without departing from the spirit of the present invention.

Claims

1. A mechanical arm end effector for TBM single-edge hob replacement comprises a box body (5), and is characterized by further comprising a single-edge hob clamping module (1), a bolt tightening and loosening device, a driving module of the bolt tightening and loosening device, a pressing block and a bolt recycling module (4);

the single-edge hob clamping module (1) comprises a bidirectional hydraulic oil cylinder (10) and two sets of finger components; the bidirectional hydraulic oil cylinder (10) is installed at the rear end of the box body (5) through a hydraulic cylinder installation plate, and the bidirectional hydraulic oil cylinder (10) comprises two earrings; the two sets of finger components have the same structure and are symmetrically arranged on the upper side and the lower side of the box body (5); the finger part comprises a connecting rod (13), a spline shaft (14), two finger fixing seats (16) and two tubular V-shaped fingers; one end of the connecting rod (13) is provided with a sliding groove (35), a sliding rod (9) is assembled in the sliding groove (35), the sliding rod (9) is matched with an ear ring on the bidirectional hydraulic oil cylinder (10), the axial movement of the sliding rod (9) is limited by a first pin shaft (12) and a stop block (11), the other end of the connecting rod (13) is provided with a spline hole matched with the spline shaft (14), and the spline shaft (14) is installed on the box body (5) through a spline shaft installation seat (15) through a bolt; the two finger fixing seats (16) are provided with spline holes and assembled at two ends of the spline shaft (14); each finger fixing seat (16) is provided with a blind hole, one end of each of two tubular V-shaped fingers is inserted into one blind hole and fixed with the finger fixing seat (16) through a pin shaft (17), the other end of each tubular V-shaped finger is a free end, one side of the fixed end of each tubular V-shaped finger is a straight line section (18A), and one side of the free end of each tubular V-shaped finger is a V-shaped section (18B);

the bolt tightening device and the driving module thereof comprise a motor (19), a mounting plate and a central shaft (23B), the mounting plate comprises a mounting vertical plate (24A) and a mounting flat plate (24B) which are connected into a whole, a bearing support (21) is arranged on the mounting flat plate (24B), the motor (19) is mounted on the mounting flat plate (24B), sliding blocks (29) are arranged on two sides of the mounting flat plate (24B), sliding grooves (35) matched with the sliding blocks (29) are formed in two side walls in the box body (5), the mounting vertical plate (24A) is located in the front of the mounting flat plate (24B), three shaft holes which are parallel in height and parallel in axis are formed in the mounting vertical plate (24A), and the three shaft holes are marked as the central shaft hole, a first shaft hole and a second shaft hole; the central shaft (23B) is supported by the bearing support (21) and the central shaft, an output shaft of the motor (19) is connected with one end of the central shaft (23B) through a coupling (20), the central shaft (23B) is provided with a central gear (22B), the other end of the central shaft (23B) penetrates through the central shaft hole and a front panel (34) of the box body and is connected with a central threaded rod (28) through a flange part (25B), a threaded block (27) is assembled on the central threaded rod (28), and the threaded block (27) is fixed with the box body (5); a first gear shaft (23A) and a second gear shaft (23C) are respectively arranged in the first shaft hole and the second shaft hole, and a first planet wheel (22A) and a second planet wheel (22C) which are respectively meshed with the central gear (22B) are respectively arranged at one end of the first gear shaft (23A) and one end of the second gear shaft (23C); the other ends of the first gear shaft (23A) and the second gear shaft (23C) penetrate through a front panel (34) of the box body and are respectively connected with a bolt tightener through a flange (25A); the bolt tensioner comprises a flange sleeve (26) connected with the flange (25A), a first spring (30), a convex block (32) and a concave block (33) are sequentially arranged in the flange sleeve (26) from the rear end to the front end, a groove is axially formed in the side wall of the flange sleeve (26) and from the rear end of the flange sleeve (26), a radial pin shaft (31) is arranged on the convex block (32), and the radial pin shaft (31) is embedded in the groove; the opposite end surfaces of the concave block (33) and the convex block (32) are matched by inclined surfaces arranged after four-division, and the other end of the concave block (33) is a bolt dismounting rod with a square flat structure and penetrates out of the front end of the flange sleeve (26);

the pressing block and bolt recovery module (4) comprises an electromagnet mounting plate (43), two upright posts (40) parallel to the central shaft (23B) are fixed on a front panel (34) of the box body (5), radial pin holes are formed in the end portions of the two upright posts (40), through holes aligned with the central shaft (23B), two bolt tensioners and the two upright posts respectively are formed in the electromagnet mounting plate (43), a second spring (42) is sleeved on each upright post (40), the electromagnet mounting plate (43) is mounted on the two upright posts (40), and then the electromagnet mounting plate is fixed by pins matched with the radial pin holes; the electromagnet mounting plate (43) is provided with four electromagnets (39) which are symmetrically arranged up and down and left and right.

2. The end effector of a robotic arm for TBM single-edged hob exchange of claim 1, wherein: the front surface of the electromagnet (39) is located forward of the front surface of the bolt mounting/dismounting lever.

3. The end effector of a robotic arm for TBM single-edged hob exchange of claim 1, wherein: and a connecting plate (6) is fixed at the rear end of the box body, and the connecting plate (6) is used for connecting the mechanical arm end effector with the mechanical arm end joint.