CN214793750U - TBM cutter detection robot and TBM - Google Patents
TBM cutter detection robot and TBM Download PDFInfo
- Publication number
- CN214793750U CN214793750U CN202120893986.5U CN202120893986U CN214793750U CN 214793750 U CN214793750 U CN 214793750U CN 202120893986 U CN202120893986 U CN 202120893986U CN 214793750 U CN214793750 U CN 214793750U
- Authority
- CN
- China
- Prior art keywords
- hinge
- tbm
- cutter
- hinged
- detection
- Prior art date
- 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.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model relates to a TBM cutter inspection robot and TBM. TBM cutter inspection robot includes: the base is arranged on the wall surface of the people cabin channel; the folding mechanical arm comprises at least two support arms, the end parts of all the support arms are sequentially hinged together through a hinge shaft, one end of the first support arm, which is far away from the hinge end, is hinged on the base through the hinge shaft, and the axes of all the hinge shafts are arranged in parallel; the detection device is connected to one end of the last support arm, which is far away from the hinged end, and is used for detecting the cutter on the cutter head; and an output shaft of the driving motor is in transmission connection with a corresponding hinge shaft so as to realize the unfolding and folding of the folding mechanical arm. Under each driving motor's synergism, the utility model discloses a TBM cutter detection robot can fold up when unoperated state for the volume is less, can expand when operating condition, makes working space big, not only can satisfy the cutter and detect the needs, conveniently arranges in the people's storehouse passageway of tunneling equipment moreover.
Description
Technical Field
The utility model relates to a TBM cutter inspection robot and TBM.
Background
In recent years, urban subway construction and tunnel construction in China are rapidly developed, and the TBM construction method is widely applied due to the advantages of high efficiency and safety. The cutter consumption of the full-face tunnel boring machine TBM is high in the tunnel construction process, constructors must enter a cutter head to check each cutter within several hours of shutdown maintenance every day, if the cutter is excessively worn away and is continuously used, the boring efficiency is influenced, and the situation of blocking and the like is easy to occur, so that the cutter detection is a necessary task for field personnel every day.
According to statistics, the time of cutter detection and cutter changing operation accounts for more than 10% of the tunnel construction period, the current cutter detection mainly depends on manual operation, the labor intensity is high, and the detection efficiency is low; moreover, when the construction environment such as large burial depth and high water pressure is met, great potential safety hazards are brought to operators.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a TBM cutter detection robot, which solves the technical problems of high labor intensity and low detection efficiency caused by manual cutter detection in the prior art; an object of the utility model is also to provide a TBM.
In order to achieve the above object, the utility model discloses TBM cutter inspection robot's technical scheme is:
TBM cutter inspection robot includes:
the base is arranged on the wall surface of the people cabin channel;
the folding mechanical arm comprises at least two support arms, the end parts of all the support arms are sequentially hinged together through a hinge shaft, one end of the first support arm, which is far away from the hinge end, is hinged on the base through the hinge shaft, and the axes of all the hinge shafts are arranged in parallel;
the detection device is connected to one end of the last support arm, which is far away from the hinged end, and is used for detecting the cutter on the cutter head;
the driving motors correspond to the hinge shafts one by one, and output shafts of the driving motors are in transmission connection with the corresponding hinge shafts so as to realize the unfolding and folding of the folding mechanical arm.
The beneficial effects are that: under each driving motor's synergism, the utility model discloses a TBM cutter detection robot can fold up when unoperated state for the volume is less, can expand when operating condition, makes working space big, not only can satisfy the cutter and detect the needs, conveniently arranges in the people's storehouse passageway of tunneling equipment moreover. In addition, the detection efficiency of the cutter can be improved, and the work danger is reduced.
Furthermore, the detection device is hinged at one end of the last support arm far away from the hinged end.
The beneficial effects are that: by the design, the detection device can detect the cutter from more angles, so that the accuracy of a detection result is ensured.
Further, detection device includes articulated seat and detects the head, and detection device articulates the one end of keeping away from the hinged end at last support arm through articulated seat, detects the head and rotates the assembly on articulated seat around self axis.
Furthermore, the base is a rotating seat and is used for being rotatably assembled on the wall surface of the people cabin channel.
The beneficial effects are that: by the design, the working space of the detection robot can be further increased.
Furthermore, the axes of all the hinge shafts extend along the vertical direction, and when the folding mechanical arm is in a folding state, all the support arms are sequentially arranged in the up-down direction.
The beneficial effects are that: the design is beneficial to unfolding and folding of each support arm.
In order to achieve the above purpose, the technical scheme of the TBM of the present invention is:
the TBM comprises a shield body and a cutter head, wherein a human bin channel is arranged in the shield body, and a TBM cutter detection robot is arranged in the human bin channel;
TBM cutter inspection robot includes:
the base is arranged on the wall surface of the people cabin channel;
the folding mechanical arm comprises at least two support arms, the end parts of all the support arms are sequentially hinged together through a hinge shaft, one end of the first support arm, which is far away from the hinge end, is hinged on the base through the hinge shaft, and the axes of all the hinge shafts are arranged in parallel;
the detection device is connected to one end of the last support arm, which is far away from the hinged end, and is used for detecting the cutter on the cutter head;
the driving motors correspond to the hinge shafts one by one, and output shafts of the driving motors are in transmission connection with the corresponding hinge shafts so as to realize the unfolding and folding of the folding mechanical arm.
The beneficial effects are that: under each driving motor's synergism, the utility model discloses a TBM cutter detection robot can fold up when unoperated state for the volume is less, can expand when operating condition, makes working space big, not only can satisfy the cutter and detect the needs, conveniently arranges in the people's storehouse passageway of tunneling equipment moreover. In addition, the detection efficiency of the cutter can be improved, and the work danger is reduced.
Furthermore, the detection device is hinged at one end of the last support arm far away from the hinged end.
The beneficial effects are that: by the design, the detection device can detect the cutter from more angles, so that the accuracy of a detection result is ensured.
Further, detection device includes articulated seat and detects the head, and detection device articulates the one end of keeping away from the hinged end at last support arm through articulated seat, detects the head and rotates the assembly on articulated seat around self axis.
Furthermore, the base is a rotating seat and is rotatably assembled on the wall surface of the people cabin channel.
The beneficial effects are that: by the design, the working space of the detection robot can be further increased.
Furthermore, the axes of all the hinge shafts extend along the vertical direction, and when the folding mechanical arm is in a folding state, all the support arms are sequentially arranged in the up-down direction.
The beneficial effects are that: the design is beneficial to unfolding and folding of each support arm.
Drawings
Fig. 1 is a schematic structural diagram of a TBM tool detection robot according to embodiment 1 of the present invention;
FIG. 2 is a schematic view of the structure of FIG. 1 from another perspective;
in the figure: 1. a base; 2. a first drive motor; 3. a second drive motor; 4. a first support arm; 5. a second support arm; 6. a third support arm; 7. a third drive motor; 8. a detection head; 9. a fourth drive motor; 10. a hinged seat; 11. a fifth drive motor; 12. and (3) wall surfaces.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention, i.e., the described embodiments are only some, but not all embodiments of the invention. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiment of the present invention, all other embodiments obtained by the person skilled in the art without creative work belong to the protection scope of the present invention.
It is noted that relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element. Furthermore, the terms "upper" and "lower" are based on the orientation and positional relationship shown in the drawings and are only for convenience of description of the present invention, and do not indicate that the referred device or component must have a specific orientation, and thus, should not be construed as limiting the present invention.
The features and properties of the present invention are described in further detail below with reference to examples.
The utility model discloses embodiment 1 of TBM cutter inspection robot:
as shown in fig. 1 and 2, the TBM tool detection robot includes a base 1, a folding mechanical arm, and a detection device, where the base 1 is a rotating seat rotatably mounted on a wall 12 of a manhole, and the base 1 is driven to rotate by a first driving motor 2. Wherein the wall surface 12 is a vertical side wall surface.
In this embodiment, the circumferential rotation angle of the base 1 is designed to be in the range of-75 ° to 75 ° in order to meet the requirements of work and installation.
As shown in fig. 1 and 2, the folding mechanical arm comprises a first support arm 4, a second support arm 5 and a third support arm 6, the ends of the three support arms are sequentially hinged together through a hinge shaft, and one end of the first support arm 4, which is far away from the hinged end, is hinged on the base 1 through the hinge shaft; the detection device is hinged to one end, far away from the hinged end, of the third support arm 6 and used for detecting the cutter on the cutter head. Wherein the first arm 4 constitutes the first arm and the third arm 6 constitutes the last arm.
In this embodiment, the axes of the hinge shafts are arranged in parallel and extend in the vertical direction, and the hinge shafts are in transmission connection with the output shafts of the second driving motor 3, the third driving motor 7, the fourth driving motor 9 and the fifth driving motor 11.
In this embodiment, the second driving motor 3 drives the first arm 4 to swing left and right through the first hinge shaft, and the angle range of the left and right swing of the first arm 4 is 0 to 120 ° considering the requirement of the working space, wherein the first hinge shaft and the first arm 4 are assembled together in a rotation stopping manner. The third driving motor 7 drives the second support arm 5 to swing left and right through a second hinge shaft, the fourth driving motor 9 drives the third support arm 6 to swing left and right through a third hinge shaft, the swing angles of the second support arm 5 and the third support arm 6 are not limited, the second hinge shaft and the second support arm 5 are assembled together in a rotation stop mode, and the third hinge shaft and the third support arm 6 are assembled together in a rotation stop mode. The fifth driving motor 11 drives the detection device to swing through a fourth hinge shaft, the left-right swing angle range of the detection device is-120 degrees, and the fourth hinge shaft and the detection device are assembled together in a rotation stopping mode.
As shown in fig. 1, the detection device includes a hinge base 10 and a detection head 8, the detection device is hinged to one end of the third support arm 6 far away from the hinge end through the hinge base 10, a built-in motor is arranged in the hinge base 10, and the built-in motor is used for driving the detection head 8 to rotate around the axis of the detection head 8, so that the detection head 8 is assembled on the hinge base 10. Wherein, install searchlight, high-pressure squirt and camera on the detection head.
In this embodiment, when the folding mechanical arm is in the folded state, the first support arm 4, the second support arm 5 and the third support arm 6 are sequentially arranged from bottom to top, so that the design is favorable for unfolding and folding each support arm.
Through the synergistic effect of each motor, when TBM advances a tunnel, need not detect the cutter, for practicing thrift workspace and protection cutter detection robot, folding arm retrieves foldingly, pastes on the wall in people's storehouse passageway, does not influence staff's business turn over. When a cutter needs to be detected, the cutter head rotates at a low speed, and each support arm of the folding mechanical arm extends out and expands, so that the detection device reaches a designated position at the rear side of the cutter head; and then, firstly, starting the searchlight, then starting the high-pressure water gun to spray water, and then closing the high-pressure water gun and starting the camera to shoot.
The TBM cutter detection robot in the embodiment has six degrees of freedom, is small in size in a non-working state, is large in working space in a working state, can meet the requirement of cutter detection, and is convenient to deploy in a man-cabin channel of tunnel tunneling equipment. In addition, the manufacturing, installation and maintenance costs are low, the detection efficiency of the cutter can be improved, and the working danger is reduced.
The utility model discloses TBM cutter inspection robot's embodiment 2:
the present embodiment is different from embodiment 1 in that, in embodiment 1, the folding mechanical arm includes a first arm 4, a second arm 5, and a third arm 6, and the ends of the three arms are hinged together in sequence through a hinge shaft. In this embodiment, the folding mechanical arm comprises two support arms, the ends of the two support arms are sequentially hinged together through a hinge shaft, at this time, one of the two support arms constitutes a first support arm, and the other of the two support arms constitutes a last support arm. In other embodiments, the folding robotic arm may include more than four arms.
The utility model discloses embodiment 3 of TBM cutter inspection robot:
the difference between this embodiment and embodiment 1 is that in embodiment 1, the detection device includes a hinge base 10 and a detection head 8, the detection device is hinged at one end of the third arm 6 far from the hinge end through the hinge base 10, and an internal motor is arranged in the hinge base 10, and is used for driving the detection head 8 to rotate around its axis, so that the detection head 8 is assembled on the hinge base 10. In this embodiment, the detection device only includes the detection head, and the detection device passes through the detection head and articulates in the one end that keeps away from the hinged end of third support arm.
The utility model discloses TBM cutter inspection robot's embodiment 4:
the present embodiment is different from embodiment 1 in that in embodiment 1, the axes of all the hinge shafts extend in the vertical direction, and when the folding mechanical arm is in the folded state, the first arm 4, the second arm 5, and the third arm 6 are arranged in order from bottom to top. In this embodiment, the axes of all the hinge shafts extend in the horizontal direction, and when the folding mechanical arm is in the folded state, the first support arm, the second support arm, and the third support arm are sequentially arranged in the left-right direction, and at this time, the base may be disposed on the vertical side wall surface or the horizontal top wall surface.
The utility model discloses TBM's embodiment, TBM in this embodiment includes the shield body and blade disc, and the shield is internal to be equipped with people's storehouse passageway, is equipped with TBM cutter detection robot in the people's storehouse passageway, and this TBM cutter detection robot and above-mentioned TBM cutter detection robot's embodiment 1 to 4 in arbitrary the structure the same, no longer describe here.
The above description is only for the preferred embodiment of the present invention, and the present invention is not limited thereto, the protection scope of the present invention is defined by the claims, and all structural changes equivalent to the contents of the description and drawings of the present invention should be included in the protection scope of the present invention.
Claims (10)
- TBM cutter inspection robot, characterized by, includes:the base (1) is arranged on a wall surface (12) of the people cabin channel;the folding mechanical arm comprises at least two support arms, the end parts of all the support arms are sequentially hinged together through a hinge shaft, one end of the first support arm, which is far away from the hinge end, is hinged on the base (1) through the hinge shaft, and the axes of all the hinge shafts are arranged in parallel;the detection device is connected to one end of the last support arm, which is far away from the hinged end, and is used for detecting the cutter on the cutter head;the driving motors correspond to the hinge shafts one by one, and output shafts of the driving motors are in transmission connection with the corresponding hinge shafts so as to realize the unfolding and folding of the folding mechanical arm.
- 2. The TBM tool detection robot of claim 1, wherein the detection device is hinged at an end of the last arm distal from the hinged end.
- 3. The TBM tool detection robot according to claim 2, characterized in that the detection device comprises a hinge seat (10) and a detection head (8), the detection device is hinged at one end of the tail arm far away from the hinge end through the hinge seat (10), and the detection head (8) is rotatably assembled on the hinge seat (10) around the axis of the detection head.
- 4. The TBM tool detection robot according to claim 1, 2 or 3, characterized in that said base (1) is a rotating seat, the base (1) being adapted to be rotatably mounted on a wall (12) of a man-compartment aisle.
- 5. The TBM tool detection robot of claim 1, 2 or 3, wherein the axes of all the hinge shafts extend in a vertical direction, and all the arms are arranged in sequence in an up-down direction when the folding robot arm is in a folded state.
- The TBM comprises a shield body and a cutter head, wherein a human bin channel is arranged in the shield body, and a TBM cutter detection robot is arranged in the human bin channel;the TBM cutter detection robot is characterized by comprising:the base (1) is arranged on the wall surface (12) of the people cabin channel;the folding mechanical arm comprises at least two support arms, the end parts of all the support arms are sequentially hinged together through a hinge shaft, one end of the first support arm, which is far away from the hinge end, is hinged on the base (1) through the hinge shaft, and the axes of all the hinge shafts are arranged in parallel;the detection device is connected to one end of the last support arm, which is far away from the hinged end, and is used for detecting the cutter on the cutter head;the driving motors correspond to the hinge shafts one by one, and output shafts of the driving motors are in transmission connection with the corresponding hinge shafts so as to realize the unfolding and folding of the folding mechanical arm.
- 7. The TBM of claim 6, wherein the detection means is hinged at an end of the last arm remote from the hinged end.
- 8. The TBM according to claim 7, characterized in that the detection device comprises a hinge base (10) and a detection head (8), the detection device is hinged at one end of the last arm far away from the hinge end through the hinge base (10), and the detection head (8) is rotatably assembled on the hinge base (10) around the axis of the detection head.
- 9. The TBM according to claim 6 or 7 or 8, characterised in that the base (1) is a rotating seat, the base (1) being rotatably mounted on a wall (12) of a man-hole aisle.
- 10. The TBM as claimed in claim 6 or claim 7 or claim 8 wherein the axes of all the hinge shafts extend in a vertical direction and all the arms are arranged one after the other in an up and down direction when the folding arms are in the folded position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120893986.5U CN214793750U (en) | 2021-04-27 | 2021-04-27 | TBM cutter detection robot and TBM |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120893986.5U CN214793750U (en) | 2021-04-27 | 2021-04-27 | TBM cutter detection robot and TBM |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214793750U true CN214793750U (en) | 2021-11-19 |
Family
ID=78690288
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120893986.5U Active CN214793750U (en) | 2021-04-27 | 2021-04-27 | TBM cutter detection robot and TBM |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214793750U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114474032A (en) * | 2022-01-17 | 2022-05-13 | 上海万林机械制造有限公司 | Walk wall type folding manipulator |
-
2021
- 2021-04-27 CN CN202120893986.5U patent/CN214793750U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114474032A (en) * | 2022-01-17 | 2022-05-13 | 上海万林机械制造有限公司 | Walk wall type folding manipulator |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106863341B (en) | A kind of shield machine disk cutter tool-changing mechanical arm and its application method | |
| CN103251357B (en) | Exterior wall cleaning machine | |
| CN105751213A (en) | Suction type multi-degree of freedom robot mechanical hand mechanism | |
| CN109110700B (en) | A tunnel overhauls operation locomotive that is used for operation platform of tunnel to overhaul and includes it | |
| CN214793750U (en) | TBM cutter detection robot and TBM | |
| CN110685706B (en) | Shield constructs quick-witted robot tool changing experimental apparatus | |
| CN105383587A (en) | Four-leg robot for detecting mine tunnel | |
| CN109989763A (en) | A kind of rock tunnel(ling) machine detection tool changing robot and its application method | |
| CN113189001A (en) | Shield tunneling machine and method capable of achieving cutter abrasion image detection | |
| CN219140363U (en) | Guide tracked piping lane fortune dimension inspection robot with diversified visual function | |
| CN105217492B (en) | Attachment means, crane arm and crane | |
| CN208778994U (en) | A kind of intelligence tubular service robot | |
| CN206554829U (en) | Drill rod conveying device for coal mine drilling machine | |
| CN110053172B (en) | Cantilever type universal cutting mechanism, equipment and cutting method for tunnel | |
| CN105756678A (en) | Cantilever-mounted auxiliary device and working method as well as application thereof | |
| CN107130963B (en) | Full hydraulic rock loader for vertical shaft | |
| CN211388808U (en) | Railway roof insulating part safety cleaning detection robot system | |
| CN110630279B (en) | Shield machine with robot tool changing function | |
| CN111496816A (en) | Inspection robot system for shield tunneling machine and inspection method thereof | |
| CN201826846U (en) | Continuous miner and dust collector thereof | |
| CN107175666A (en) | Underground rescue robot | |
| CN103485812B (en) | A kind of advance support mechanism and development machine | |
| CN108555930A (en) | A kind of tearing cutter replaces manipulator and its control method | |
| CN212399599U (en) | Inspection robot system for shield machine | |
| CN206057602U (en) | Detection device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |