CN212079315U - Annular track knife conveying device based on knife changing robot and heading machine - Google Patents
Annular track knife conveying device based on knife changing robot and heading machine Download PDFInfo
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- CN212079315U CN212079315U CN202020636187.5U CN202020636187U CN212079315U CN 212079315 U CN212079315 U CN 212079315U CN 202020636187 U CN202020636187 U CN 202020636187U CN 212079315 U CN212079315 U CN 212079315U
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Abstract
The utility model discloses an annular track fortune sword device and entry driving machine based on tool changing robot has solved the not high problem of robot tool changing in-process fortune sword efficiency among the prior art. The utility model discloses a fix the circular orbit in the robot cabin, be equipped with the fortune sword device that is used for hoist and mount hobbing cutter on the circular orbit, fortune sword device passes through drive mechanism and follows the circular orbit motion. The transmission mechanism comprises a driving device and a transmission device; the transmission device is respectively connected with the driving device and the knife conveying device, and the driving device drives the knife conveying device to move along the annular track through the transmission device. The utility model relates to an ingenious, compact structure realizes high-efficient quick robot tool changing, reduces manual work, improves tool changing efficiency, is a big innovation of robot tool changing, has higher practicality and spreading value.
Description
Technical Field
The utility model relates to a entry driving machine technical field especially indicates an annular track fortune sword device and entry driving machine based on tool changing robot.
Background
Hobbing cutter consumption is big, the change is frequent in full-face entry driving machine work progress, and hobbing cutter tool changing operating time accounts for tunnel construction cycle more than 10%, and current hobbing cutter tool changing work mainly relies on manual work, and operation potential safety hazard under construction environment such as big buried depth, high water pressure is big, major incident such as casualties easily appears. According to statistics, nearly 70% of tunnel construction safety accidents in China are directly related to manual tool changing operation. In order to realize efficient and rapid tool changing, reduce manual work and improve tool changing efficiency, the robot tool changing becomes the trend of construction of the tunneling machine. But with the problem of tool transfer based on tool changing robots. How to cooperate with a tool changing robot to realize the rapid transportation of the hob is a technical problem to be solved by the tool changing robot. Although the telescopic beam type hob conveying device with the application number of 201821053898.9 is a conveying mode, the telescopic beam type hob conveying device is not suitable for a robot with flexible tool changing, and the integration of the telescopic beam type hob conveying device and the tool changing robot is poor, so that the tool changing efficiency is low.
SUMMERY OF THE UTILITY MODEL
Not enough to among the above-mentioned background art, the utility model provides an annular rail fortune sword device and entry driving machine based on tool changing robot has solved the not high problem of robot tool changing in-process fortune sword efficiency among the prior art.
The technical scheme of the utility model is realized like this: the utility model provides an annular orbit fortune sword device based on tool changing robot, is equipped with the fortune sword device that is used for hoist and mount hobbing cutter including fixing the annular orbit in the robot cabin on the annular orbit, fortune sword device passes through drive mechanism and follows annular orbit motion.
The transmission mechanism comprises a driving device and a transmission device; the transmission device is respectively connected with the driving device and the knife conveying device, and the driving device drives the knife conveying device to move along the annular track through the transmission device.
The transmission device comprises a synchronous belt wheel and a synchronous belt, the upper part of the synchronous belt wheel is fixed on a top plate of the robot cabin, the lower part of the synchronous belt wheel extends into the annular track and is matched with the synchronous belt, and the synchronous belt is connected with the cutter conveying device.
The driving device comprises a stepping motor fixed on a top plate of the robot cabin, and the stepping motor is connected with the synchronous belt wheel through a gear pair.
The cutter conveying device comprises a connecting plate seat, the upper portion of the connecting plate seat is connected with the annular rail through a roller assembly, a telescopic piece is arranged on the lower portion of the connecting plate seat, and a hob head is connected to the lower portion of the telescopic piece.
The roller assembly comprises a walking roller and a balance roller, the walking roller is symmetrically arranged on the connecting plate seat, the balance roller is located below the walking roller, the walking roller is located in an annular chute of the annular track, and the balance roller is located at the lower part of the annular chute.
The hob head is a frame-shaped plate frame, and an electromagnet positioning seat is arranged on the inner wall of the frame-shaped plate frame.
The frame-shaped plate frame comprises a cross beam seat and arm plates symmetrically arranged, and the arm plates are hinged to the cross beam seat and connected with the cross beam seat through opening and closing telescopic pieces.
A heading machine based on tool changing of a tool changing robot comprises the annular rail tool conveying device.
The utility model realizes tool changing by matching the annular rail tool conveying device arranged in the robot cabin with the tool changing robot; set up two at least fortune sword devices on the circular orbit, partly be used for transporting new hobbing cutter to the robot top, partly be used for transporting out the old track that the robot changed down, realize with the high cooperation of tool changing robot, realize high-efficient fortune sword simultaneously. The utility model relates to an ingenious, compact structure realizes high-efficient quick robot tool changing, reduces manual work, improves tool changing efficiency, is a big innovation of robot tool changing, has higher practicality and 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 overall structure of the present invention.
Fig. 2 is a schematic diagram of the arrangement state of the heading machine.
Fig. 3 is the structure of the transmission mechanism of the present invention.
Fig. 4 is a schematic view of a first structural state of the knife conveying device of the present invention.
Fig. 5 is a schematic view of a second structural state of the knife conveying device of the present invention.
Fig. 6 is a schematic view of the U-shaped connecting member arrangement state of the present invention.
Fig. 7 is a schematic view of the structure of the knife conveying device of the present invention.
FIG. 8 is a schematic diagram of a tool-taking state of the tool-changing robot.
Fig. 9 is a schematic diagram of a tool-changing robot in a tool-placing state.
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, embodiment 1 is an annular rail knife conveying device based on a knife-changing robot, and the annular rail 101 is fixed in a robot cabin 301, the annular rail 101 is horizontally arranged on a top plate of the robot cabin, the knife-changing robot is located in the robot cabin, the annular rail is located above a knife-changing robot 3, the robot cabin is located behind a cutter head 2, and the knife-changing robot extends out to change a hob on the cutter head. The annular track 101 is provided with a cutter conveying device 103 for hoisting the hob 105, and the cutter conveying device 103 moves along the annular track 101 through a transmission mechanism. At least two cutter conveying devices are arranged on the annular track, one part of the cutter conveying devices is used for conveying the new hob to the upper part of the robot, and the other part of the cutter conveying devices is used for conveying the old track replaced by the robot out. So realize the high cooperation with the robot, realize high-efficient fortune sword simultaneously.
Further, the transmission mechanism includes a driving device 104 and a transmission device 102; the transmission device 102 is respectively connected with the driving device 104 and the knife conveying device 103, and the driving device 104 drives the knife conveying device 103 to move along the annular track 101 through the transmission device 102.
Further, as shown in fig. 3 and 4, the transmission device 102 includes a synchronous pulley 1021 and a synchronous belt 1022, the upper portion of the synchronous pulley 1021 is fixed on the top plate of the robot cabin 301 through a pulley fixing rod 1023, the pulley fixing rod 1023 is in bolt connection with the top plate of the robot cabin, the lower portion of the synchronous pulley 1021 extends into the annular track 101 and is matched with the synchronous belt 1022, a plurality of synchronous pulleys are arranged as required for turning and supporting the synchronous belt, the synchronous belt 1022 is connected with the knife transporting device 103, the knife transporting device and the synchronous belt perform synchronous motion, and the synchronous belt drives the knife transporting device to move along the annular track. Preferably, the driving device 104 includes a stepping motor 1041 fixed on the ceiling of the robot compartment 301, the stepping motor is bolted on the ceiling of the robot compartment through a fixing seat 1043, and the stepping motor 1041 is connected with the synchronous pulley 1021 through a gear pair 1042. The drive bevel gear of the gear pair is fixed on the output shaft of the stepping motor, the driven bevel gear of the gear pair is installed on the upper part of a synchronous belt wheel, the stepping motor is driven by the gear pair, and the rotation of the stepping motor is converted into the rotation of the synchronous belt wheel by the gear pair, so that the synchronous belt is driven to rotate.
As shown in fig. 5 and 6, in embodiment 2, a circular rail knife conveying device based on a knife changing robot, the knife conveying device 103 includes a connecting plate seat 1032, the upper portion of the connecting plate seat 1032 is connected to a circular rail 101 through a roller assembly, so as to realize rolling connection between the connecting plate seat and the circular rail, a telescopic member 1033 is disposed at the lower portion of the connecting plate seat 1032, the telescopic member employs a telescopic cylinder, and a hob holder 1034 for holding a hob is connected to the lower portion of the telescopic member 1033. Under the effect of flexible hydro-cylinder, hob head drives the hobbing cutter up-and-down motion, the cooperation of being convenient for with tool changing robot, the hobbing cutter can be got fast to the tool changing robot of being convenient for simultaneously. The inboard of connecting plate seat 1032 is equipped with U type connecting piece 1024, and U type connecting piece 1024 and hold-in range bolted connection realize being connected of connecting plate seat and hold-in range, carry out synchronous motion with the hold-in range.
Further, the roller assembly includes two walking rollers 1031 and two balance rollers 1035, the two walking rollers 1031 are symmetrically disposed on the connecting plate base 1032, and the balance rollers 1035 are located below the walking rollers 1031 and are used for balancing the connecting plate base 1032 to prevent the connecting plate base 1032 from tilting or shaking. The walking roller 1031 is located in the annular sliding groove 1011 of the annular rail 101, and the balance roller 1035 is located at the lower part of the annular sliding groove 1011 to form three-side contact with the annular sliding groove, so that the stability of the knife conveying device is improved, and the stable knife conveying is realized.
Further, the hob head 1034 is a frame-shaped plate frame with an opening at the lower part, and is used for mounting and dismounting the hob. The electromagnet positioning seat 1036 is arranged on the inner wall of the frame-shaped plate frame, namely a groove for positioning the hob is formed in the electromagnet positioning seat, the electromagnet is arranged in the groove, the electromagnet can tightly adsorb the hob, and the hob can still be kept stable and does not separate from the groove even in a strong vibration state in the operation process of the hob conveying device.
Preferably, the frame-shaped plate frame comprises a cross beam seat 34-1 and symmetrically arranged arm plates 34-2, wherein the arm plates 34-2 are hinged with the cross beam seat 34-1 and are connected with the cross beam seat 34-1 through opening and closing telescopic pieces 34-3. The retractable part can adopt an oil cylinder, and the arm plate swings relative to the cross beam seat under the action of the oil cylinder, so that the frame-shaped plate frame starts, and the hob can be clamped or not quickly. The other structure is the same as embodiment 1.
As shown in fig. 2, example 3: a heading machine based on tool changing of a tool changing robot comprises an annular rail tool conveying device in embodiment 2. The annular track cutter conveying device is matched with a cutter changing robot arranged in the tunneling machine, so that the hob on the cutter head 2 can be quickly replaced.
As shown in fig. 7 and 8, example 4: a knife conveying process of an annular rail knife conveying device based on a knife changing robot is as follows: s1, fixing the annular track 101, the driving device 104 and the transmission device 102 on the top plate of the robot chamber 1031, arranging at least two knife conveying devices 103 on the annular track 101, connecting the synchronous belt 1022 of the transmission device 102 with the knife conveying devices 103, and driving the knife conveying devices 103 to move along the annular track 101 by the driving device 104 through the transmission device 102;
s2: when the cutter is changed, the cutter changing robot 3 extends out of the cabin door, takes the old hob cutter off the cutter head, returns to the robot cabin 1031, controls the driving device 104 to rotate, stops the hollow hob cutter holder 1034 of the cutter conveying device to a specified position under the driving of the synchronous belt 1022, then stops the driving device 104, and moves the hollow hob cutter holder 1034 downwards to the specified position under the action of the telescopic part 1033, and then the cutter changing robot 3 places the old hob cutter in the hollow hob cutter holder 1034;
s3: the telescopic part 1033 is retracted, the driving device 104 is started again, and after the cutter conveying device with the old hob cutter is stopped at the designated position, the driving device 104 is stopped;
s4: the telescopic part 1033 is started, the cutter conveying device provided with the new hob is stopped at a specified position, the new hob is clamped by the cutter changing robot 3, and then the telescopic part 1033 is retracted;
s5: and the tool changing robot 3 transports the new hob to the outside of the robot cabin for hob installation, and the whole tool changing work is completed.
The other structure is the same as embodiment 2 or embodiment 3.
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 (9)
1. The utility model provides an annular track fortune sword device based on tool changing robot which characterized in that: the automatic cutter lifting device comprises an annular track (101) fixed in a robot cabin (301), wherein a cutter conveying device (103) used for lifting a hob (105) is arranged on the annular track (101), and the cutter conveying device (103) moves along the annular track (101) through a transmission mechanism.
2. The tool changing robot-based circular rail tool conveying device according to claim 1, wherein: the transmission mechanism comprises a driving device (104) and a transmission device (102); the transmission device (102) is respectively connected with the driving device (104) and the knife conveying device (103), and the driving device (104) drives the knife conveying device (103) to move along the annular track (101) through the transmission device (102).
3. The tool changing robot-based circular rail tool conveying device according to claim 2, wherein: the transmission device (102) comprises a synchronous pulley (1021) and a synchronous belt (1022), the upper part of the synchronous pulley (1021) is fixed on a top plate of the robot cabin (301), the lower part of the synchronous pulley (1021) extends into the annular track (101) and is matched with the synchronous belt (1022), and the synchronous belt (1022) is connected with the knife conveying device (103).
4. The tool changing robot-based circular rail tool conveying device according to claim 3, wherein: the driving device (104) comprises a stepping motor (1041) fixed on a top plate of the robot cabin (301), and the stepping motor (1041) is connected with a synchronous pulley (1021) through a gear pair (1042).
5. The tool changing robot-based annular rail tool conveying device according to any one of claims 1 to 4, wherein: the knife conveying device (103) comprises a connecting plate seat (1032), the upper portion of the connecting plate seat (1032) is connected with the annular rail (101) through a roller assembly, a telescopic piece (1033) is arranged on the lower portion of the connecting plate seat (1032), and a hob head (1034) is connected to the lower portion of the telescopic piece (1033).
6. The tool changing robot-based circular rail tool conveying device according to claim 5, wherein: the roller assembly comprises a walking roller (1031) and a balance roller (1035), the walking roller (1031) is symmetrically arranged on the connecting plate seat (1032), the balance roller (1035) is located below the walking roller (1031), the walking roller (1031) is located in an annular sliding groove (1011) of the annular track (101), and the balance roller (1035) is located at the lower part of the annular sliding groove (1011).
7. The tool changing robot-based circular rail tool conveying device according to claim 6, wherein: the hob head (1034) is a frame-shaped plate frame, and an electromagnet positioning seat (1036) is arranged on the inner wall of the frame-shaped plate frame.
8. The tool changing robot-based circular rail tool conveying device according to claim 7, wherein: the frame-shaped plate frame comprises a cross beam seat (34-1) and arm plates (34-2) which are symmetrically arranged, wherein the arm plates (34-2) are hinged with the cross beam seat (34-1) and are connected with the cross beam seat (34-1) through opening and closing telescopic pieces (34-3).
9. The utility model provides a entry driving machine based on tool changing robot tool changing which characterized in that: comprising an endless track knife device according to claim 1 or 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020636187.5U CN212079315U (en) | 2020-04-24 | 2020-04-24 | Annular track knife conveying device based on knife changing robot and heading machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020636187.5U CN212079315U (en) | 2020-04-24 | 2020-04-24 | Annular track knife conveying device based on knife changing robot and heading machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212079315U true CN212079315U (en) | 2020-12-04 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020636187.5U Active CN212079315U (en) | 2020-04-24 | 2020-04-24 | Annular track knife conveying device based on knife changing robot and heading machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212079315U (en) |
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2020
- 2020-04-24 CN CN202020636187.5U patent/CN212079315U/en active Active
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