CN211474120U

CN211474120U - Single-degree-of-freedom tool changing robot conveying mechanism, tool changing robot and shield machine

Info

Publication number: CN211474120U
Application number: CN202020103901.4U
Authority: CN
Inventors: 姜礼杰; 钱豪; 文勇亮; 杨航; 原晓伟; 赵梦媛
Original assignee: China Railway Engineering Equipment Group Co Ltd CREG
Current assignee: China Railway Engineering Equipment Group Co Ltd CREG
Priority date: 2020-01-17
Filing date: 2020-01-17
Publication date: 2020-09-11
Anticipated expiration: 2030-01-17

Abstract

The utility model discloses a single degree of freedom tool changing robot transport mechanism for shield constructs machine has solved conveying mechanism motion occupation space among the prior art, operates inflexible problem. The utility model comprises a movement adjusting mechanism, a telescopic arm and an end effector, wherein the movement adjusting mechanism is connected with one end of the telescopic arm through a telescopic piece, and the end effector is arranged at the other end of the telescopic arm; the telescopic arm drives the end effector to replace the cutter on the cutter head. The utility model discloses structural design is ingenious, and the structure integrated level is high, and the motion is nimble, improves tool changing efficiency and operating safety factor, has higher spreading value.

Description

Single-degree-of-freedom tool changing robot conveying mechanism, tool changing robot and shield machine

Technical Field

The utility model relates to a tunnel construction technical field especially indicates single degree of freedom tool changing robot transport mechanism, tool changing robot and shield structure machine.

Background

The cutter consumption is big, the change is frequent in full-face entry driving machine work progress, often is the manual tool changing among the prior art, and the manual tool changing operation degree of difficulty is big, and is efficient, easily takes place the incident moreover. For guaranteeing the personal safety of constructors, complicated manual tool changing is avoided, tool changing efficiency is improved, material resources and financial resources are saved, and a tool changing robot is used for replacing manpower to change the tool of the shield machine, so that the current research topic is formed.

However, the tool changing robot is less studied at present, and particularly, the tool changing robot is a conveying mechanism of an end effector. The existing conveying mechanism of the end effector has the disadvantages of large occupied space, inconvenience in clamping hobbing cutters at different positions, inflexibility in operation and influence on replacement efficiency. In summary, the conveying mechanism of the end effector for the cutter changing robot needs to be further improved and reasonably designed so as to improve the efficiency of changing the cutter.

SUMMERY OF THE UTILITY MODEL

Not enough to among the above-mentioned background art, the utility model provides a single degree of freedom tool changing robot transport mechanism, tool changing robot and shield structure machine has solved among the prior art conveying mechanism motion occupation space, operates inflexible problem.

The technical scheme of the utility model is realized like this: a single-degree-of-freedom tool changing robot transportation mechanism comprises a motion adjusting mechanism, a telescopic arm and an end effector, wherein the motion adjusting mechanism is connected with one end of the telescopic arm through a telescopic piece, and the end effector is arranged at the other end of the telescopic arm; the telescopic arm drives the end effector to replace the cutter on the cutter head.

The telescopic arm comprises a head end arm plate and a tail end arm plate, one end of the head end arm plate is connected with a telescopic piece of the movement adjusting mechanism, the other end of the head end arm plate is connected with the tail end arm plate through a folding mechanism, and the tail end actuator is arranged on the tail end arm plate.

The folding mechanism comprises at least one connecting plate, two ends of the connecting plate are respectively connected with the head-end arm plate and the tail-end arm plate through gear driving components, and the gear driving components at two ends of the same connecting plate are connected through a connecting rod.

The gear driving component comprises a driving motor, the driving motor is fixed on the head end arm plate and/or the tail end arm plate, a driving gear is arranged on an output shaft of the driving motor, a first gear shaft is arranged on the head end arm plate and/or the tail end arm plate, a tooth-shaped articulated piece is arranged on the first gear shaft, the middle of the tooth-shaped articulated piece is articulated on the connecting plate, one end of the tooth-shaped articulated piece is meshed with the driving gear, and the other end of the tooth-shaped articulated piece is.

The middle part of the tooth-shaped articulated element is connected with the connecting plate through a second gear shaft, a second cylindrical gear is arranged on the second gear shaft, a first cylindrical gear is arranged on the first gear shaft, and the second cylindrical gear is meshed with the first cylindrical gear.

The two tooth-shaped hinged parts, the connecting rod and the connecting plate which are positioned at two ends of the same connecting plate form a four-bar mechanism, and the four-bar mechanism is symmetrically arranged at two sides of the connecting plate.

The motion adjusting mechanism comprises a base arranged in the shield body, an slide carriage is arranged on the base in a transverse sliding mode and connected with the base through a propulsion oil cylinder, an oil cylinder seat is arranged on the slide carriage in a longitudinal sliding mode and connected with the slide carriage through an adjusting oil cylinder, a lifting oil cylinder is vertically arranged on the oil cylinder seat, and a telescopic piece is fixed on the lifting oil cylinder.

The telescopic piece is a connecting oil cylinder which is horizontally arranged in the transverse direction.

The base is provided with a cylindrical rail which is transversely arranged, the bottom of the slide carriage is provided with a cylindrical block, and the cylindrical block is positioned in the cylindrical rail and can move back and forth along the cylindrical rail.

The end effector comprises a multi-degree-of-freedom adjusting platform, a connecting box body and a clamping mechanism, the connecting box body is connected with the multi-degree-of-freedom adjusting platform, the clamping mechanism is installed on the connecting box body, and a high-pressure cleaning mechanism, a bolt tightening and loosening mechanism and an image acquisition mechanism are further arranged on the connecting box body.

The cutter changing robot for the shield machine comprises the single-degree-of-freedom cutter changing robot conveying mechanism.

A shield machine comprises the shield tool changing robot.

The utility model discloses tool changing robot's transport mechanism drives end effector through flexible arm and carries out about from top to bottom the position control of 6 degrees of freedom around under motion adjustment mechanism's effect, realizes that end effector accurately reachs the assigned position fast, changes corresponding cutter. The movement adjusting mechanism drives the telescopic arm to move axially along the tunnel through the telescopic piece, and the telescopic arm drives the end effector to move radially along the cutter head, so that the movement is simplified, and the transportation efficiency is improved. The clamping mechanism, the image acquisition mechanism, the bolt tightening mechanism and the high-pressure cleaning mechanism are located on the same plate surface of the connecting box body, and the five functional components are matched for use, so that efficient and safe replacement of the cutter is realized. The utility model discloses structural design is ingenious, and the structure integrated level is high, and the motion is nimble, improves tool changing efficiency and operating safety factor, has higher spreading value.

Drawings

In order to illustrate the embodiments of the present invention more clearly, the drawings that are needed in the description of the embodiments will be briefly described below, and it is obvious that the drawings in the description below are only some embodiments of the present invention, and that other drawings can be obtained by those skilled in the art without inventive work.

Fig. 1 is the structure schematic diagram of the single-degree-of-freedom tool-changing robot transportation mechanism of the utility model.

Fig. 2 is a schematic view of the telescopic arm structure of the present invention.

Fig. 3 is a schematic front view of the folding mechanism of the present invention.

Fig. 4 is a rear view of the folding mechanism of the present invention.

Fig. 5 is a schematic view of the telescopic arm of the present invention in an expanded state.

Fig. 6 is a schematic view of the telescopic arm of the present invention in a folded state.

Fig. 7 is a schematic structural view of the movement adjusting mechanism of the present invention.

Fig. 8 is a schematic structural view of the end effector of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without any creative effort belong to the protection scope of the present invention.

As shown in fig. 1, 5, and 6, in embodiment 1, a single-degree-of-freedom tool-changing robot transportation mechanism includes a motion adjustment mechanism 3, a telescopic arm 1, and an end effector 2, where the motion adjustment mechanism 3 is connected with one end of the telescopic arm 1 through a telescopic part, and the motion adjustment mechanism drives the telescopic arm to move axially along a tunnel through the telescopic part. The telescopic arm drives the end effector to move along the radial direction of the cutter head. The end effector 2 is arranged at the other end of the telescopic arm 1, the telescopic arm 1 drives the end effector 2 to replace cutters on the cutter head, namely, the end effector is used for mounting and dismounting cutters on the cutter head, and different cutters can adopt end effectors in different forms.

Further, as shown in fig. 2, the telescopic arm 1 includes a head-end arm plate 101 and a tail-end arm plate 102, one end of the head-end arm plate 101 is connected to the telescopic member of the movement adjusting mechanism 3, the other end is connected to the tail-end arm plate 102 via a folding mechanism 103, and the end effector 2 is disposed on the tail-end arm plate 102. Under the effect of folding mechanism 103, head end arm board and end arm board can fold together, realize the regulation of flexible arm total length to satisfy the change of the cutter of different positions department.

Further, as shown in fig. 2, the folding mechanism 103 comprises at least one connecting plate 3-1, and the larger the number of the connecting plates, the longer the total length of the telescopic arm is, and the larger the diameter of the cutterhead is adapted to. Two ends of the connecting plate 3-1 are respectively connected with the head-end arm plate 101 and the tail-end arm plate 102 through gear driving components, the folding and unfolding of two adjacent connecting plates or the connecting plate and the head-end arm plate (or the tail-end arm plate) are realized under the action of the gear driving components, the automation degree is higher, and the gear driving components at two ends of the same connecting plate 3-1 are connected through a connecting rod 3-2, so that the stability of the folding mechanism is ensured.

As shown in fig. 3 and 4, in embodiment 2, the folding mechanism 103 includes two connecting plates 3-1, and the two connecting plates are connected through a gear driving member. The rear end of the connecting plate positioned at the front part is connected with the head end arm plate through a gear driving component, and the front end of the connecting plate positioned at the rear part is connected with the tail end arm plate through a gear driving component. The gear driving component comprises a driving motor 3-3, the driving motor 3-3 is fixed on the head end arm plate 101 and/or the tail end arm plate 102 or is positioned on the connecting plates, namely, one gear driving component comprises a driving motor, the driving motor between the head end arm plate and the connecting plates is fixed on the head end arm plate 101, the driving motor between the two connecting plates is fixed on one of the connecting plates, and the driving motor between the tail end arm plate and the connecting plates is fixed on the tail end arm plate 102. The output shaft of the driving motor 3-3 is provided with a driving gear 3-4, the head-end arm plate 101, the tail-end arm plate 102 and the corresponding connecting plates are provided with first gear shafts 3-5, the first gear shafts 3-5 are provided with tooth-shaped articulated pieces 3-6, the tooth-shaped articulated pieces 3-6 are angle-shaped pieces, one end of each angle-shaped piece is in a half-gear shape, and the other end of each angle-shaped piece is provided with a hinge hole. The middle part of the tooth-shaped articulated element 3-6 is articulated on the connecting plate 3-1, one end of the tooth-shaped articulated element 3-6 is meshed with the driving gear 3-4, and the other end is articulated with the connecting rod 3-2. The driving motor is started, the driving motor drives the driving gear to rotate clockwise, and the driving gear is matched with the tooth-shaped connecting hinge piece, so that the tooth-shaped hinge piece can rotate anticlockwise around the first gear shaft, the connecting plate can be driven to rotate anticlockwise, and the overturning action is completed.

Furthermore, the middle part of the toothed articulated piece 3-6 is connected with the connecting plate 3-1 through a second gear shaft 3-7, the second gear shaft 3-7 is connected with a second cylindrical gear 3-8 through a key, the first gear shaft 3-5 is connected with a first cylindrical gear 3-9 through a key, the second cylindrical gear 3-8 is meshed with the first cylindrical gear 3-9, under the action of a driving motor, the driving gear rotates to drive the toothed articulated piece to rotate, and further the second cylindrical gear rotates along the first cylindrical gear to complete stable overturning action. The two toothed articulated pieces 3-6 positioned at the two ends of the same connecting plate 3-1, the connecting rod 3-2 and the connecting plate 3-1 form a four-bar linkage mechanism, and the four-bar linkage mechanism is symmetrically arranged at the two sides of the connecting plate 3-1, so that the stability is improved.

The other structure is the same as embodiment 1.

As shown in fig. 7, in embodiment 3, the movement adjusting mechanism 3 includes a base 305 disposed in the shield body, a slide carriage 303 is disposed on the base 305 in a transverse sliding manner, and slides along an axial direction of the base, so as to adjust a front-back position of the telescopic arm. The slide carriage 303 is connected with a base 305 through a propulsion cylinder 306, and the slide carriage moves back and forth under the action of the propulsion cylinder. An oil cylinder base 302 is longitudinally arranged on the slide carriage 303 in a sliding mode, the oil cylinder base 302 is connected with the slide carriage 303 through an adjusting oil cylinder 304, and the oil cylinder base moves left and right along the slide carriage under the action of the adjusting oil cylinder 304 to achieve the adjustment of the left and right positions of the telescopic arm. The oil cylinder base 302 is vertically provided with a lifting oil cylinder 301, the telescopic piece is fixed on the lifting oil cylinder 301, and the telescopic arm drives the end effector to move up and down under the action of the lifting oil cylinder. Under the action of the movement adjusting mechanism, the telescopic arm drives the end effector to carry out position adjustment with 6 degrees of freedom in the vertical, horizontal, front and back directions, so that the end effector can quickly and accurately reach a specified position to replace a corresponding cutter.

Further, the telescopic piece is a connecting oil cylinder 307, the connecting oil cylinder 307 is horizontally arranged in the transverse direction, and the connecting oil cylinder extends and retracts in the axial direction to push the telescopic arm to move back and forth. The base 305 is provided with a cylindrical rail 3051 transversely arranged, the bottom of the slide carriage 303 is provided with a cylindrical block 3052, and the cylindrical block 3052 is positioned in the cylindrical rail 3051 and can move back and forth along the cylindrical rail 3051 under the action of the propulsion oil cylinder.

Further, as shown in fig. 8, the end effector 2 includes a multi-degree-of-freedom adjustment platform 201, a connection box 206, and a clamping mechanism 202, the connection box 206 is connected to the multi-degree-of-freedom adjustment platform 201, the multi-degree-of-freedom adjustment platform can swing and lift, and the connection box 206 can perform corresponding synchronous actions under the action of the multi-degree-of-freedom adjustment platform. The clamping mechanism 202 is mounted on the connecting box 206, and the connecting box 206 is further provided with a high-pressure cleaning mechanism 203, a bolt tightening mechanism 204 and an image acquisition mechanism 205. The clamping mechanism is used for clamping and hoisting the cutter; the image acquisition mechanism is used for acquiring images when the tail end execution mechanism executes actions, and visual detection is facilitated. The bolt tightening and loosening mechanism is used for screwing a bolt for mounting a cutter; the high-pressure cleaning mechanism is used for cleaning the cutter to be replaced. The clamping mechanism, the image acquisition mechanism, the bolt tightening mechanism and the high-pressure cleaning mechanism are located on the same plate surface of the connecting box body, and the five parts are matched for use, so that efficient and safe replacement of the cutter is realized.

The other structure is the same as embodiment 2.

Embodiment 4, a tool-changing robot for a shield machine includes the single-degree-of-freedom tool-changing robot transport mechanism described in embodiment 3.

Embodiment 5, a shield machine, including the shield of embodiment with the tool changing robot.

The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides a single degree of freedom tool changing robot transport mechanism which characterized in that: the device comprises a motion adjusting mechanism (3), a telescopic arm (1) and an end effector (2), wherein the motion adjusting mechanism (3) is connected with one end of the telescopic arm (1) through a telescopic piece, and the end effector (2) is arranged at the other end of the telescopic arm (1); the telescopic arm (1) drives the end effector (2) to replace the cutter on the cutter head.

2. The single degree of freedom tool-changing robot transport mechanism according to claim 1, characterized in that: the telescopic arm (1) comprises a head end arm plate (101) and a tail end arm plate (102), one end of the head end arm plate (101) is connected with a telescopic piece of the movement adjusting mechanism (3), the other end of the head end arm plate is connected with the tail end arm plate (102) through a folding mechanism (103), and the tail end actuator (2) is arranged on the tail end arm plate (102).

3. The single degree of freedom tool-changing robot transport mechanism according to claim 2, characterized in that: the folding mechanism (103) comprises at least one connecting plate (3-1), two ends of the connecting plate (3-1) are respectively connected with the head-end arm plate (101) and the tail-end arm plate (102) through gear driving components, and the gear driving components at two ends of the same connecting plate (3-1) are connected through a connecting rod (3-2).

4. The single degree of freedom tool-changing robot transport mechanism according to claim 3, characterized in that: the gear driving component comprises a driving motor (3-3), the driving motor (3-3) is fixed on a head end arm plate (101) and/or a tail end arm plate (102), an output shaft of the driving motor (3-3) is provided with a driving gear (3-4), the head end arm plate (101) and/or the tail end arm plate (102) is provided with a first gear shaft (3-5), a tooth-shaped articulated piece (3-6) is arranged on the first gear shaft (3-5), the middle part of the tooth-shaped articulated piece (3-6) is articulated on a connecting plate (3-1), one end of the tooth-shaped articulated piece (3-6) is meshed with the driving gear (3-4), and the other end of the tooth-shaped articulated piece is articulated with a connecting rod (3.

5. The single degree of freedom tool-changing robot transport mechanism according to claim 4, characterized in that: the middle part of the tooth-shaped articulated piece (3-6) is connected with the connecting plate (3-1) through a second gear shaft (3-7), a second cylindrical gear (3-8) is arranged on the second gear shaft (3-7), a first cylindrical gear (3-9) is arranged on the first gear shaft (3-5), and the second cylindrical gear (3-8) is meshed with the first cylindrical gear (3-9).

6. The single degree of freedom tool-changing robot transport mechanism according to claim 5, characterized in that: the two tooth-shaped hinged parts (3-6) positioned at the two ends of the same connecting plate (3-1), the connecting rod (3-2) and the connecting plate (3-1) form a four-bar linkage mechanism, and the four-bar linkage mechanism is symmetrically arranged at the two sides of the connecting plate (3-1).

7. The single-degree-of-freedom tool-changing robot transportation mechanism according to any one of claims 1 to 6, characterized in that: the motion adjusting mechanism (3) comprises a base (305) arranged in a shield body, a slide carriage (303) is arranged on the base (305) in a transverse sliding mode, the slide carriage (303) is connected with the base (305) through a propulsion oil cylinder (306), an oil cylinder seat (302) is arranged on the slide carriage (303) in a longitudinal sliding mode, the oil cylinder seat (302) is connected with the slide carriage (303) through an adjusting oil cylinder (304), a lifting oil cylinder (301) is vertically arranged on the oil cylinder seat (302), and a telescopic piece is fixed on the lifting oil cylinder (301).

8. The single degree of freedom tool-changing robot transport mechanism according to claim 7, characterized in that: the telescopic piece is a connecting oil cylinder (307), and the connecting oil cylinder (307) is horizontally arranged in the transverse direction.

9. The single degree of freedom tool-changing robot transport mechanism according to claim 8, characterized in that: the base (305) is provided with a cylindrical rail (3051) which is transversely arranged, the bottom of the slide carriage (303) is provided with a cylindrical block (3052), and the cylindrical block (3052) is positioned in the cylindrical rail (3051) and can move back and forth along the cylindrical rail (3051).

10. The single degree of freedom tool changing robot transport mechanism according to claim 1 or 6 or 8 or 9, characterized in that: the end effector (2) comprises a multi-degree-of-freedom adjusting platform (201), a connecting box body (206) and a clamping mechanism (202), the connecting box body (206) is connected with the multi-degree-of-freedom adjusting platform (201), the clamping mechanism (202) is installed on the connecting box body (206), and a high-pressure cleaning mechanism (203), a bolt tightening and loosening mechanism (204) and an image acquisition mechanism (205) are further arranged on the connecting box body (206).

11. The utility model provides a shield constructs machine tool changing robot which characterized in that: comprising a single degree of freedom tool-changing robot transportation mechanism according to claim 10.

12. The utility model provides a shield constructs machine which characterized in that: comprising a shield-tunneling tool-changing robot according to claim 11.