CN106926267B - A kind of major diameter slurry shield machine hobboing cutter tool-changing mechanical arm - Google Patents
A kind of major diameter slurry shield machine hobboing cutter tool-changing mechanical arm Download PDFInfo
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- CN106926267B CN106926267B CN201710153382.5A CN201710153382A CN106926267B CN 106926267 B CN106926267 B CN 106926267B CN 201710153382 A CN201710153382 A CN 201710153382A CN 106926267 B CN106926267 B CN 106926267B
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- hobboing cutter
- arm
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- shaft
- shell
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Automatic Tool Replacement In Machine Tools (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
Abstract
The invention discloses a kind of major diameter slurry shield machine hobboing cutter tool-changing mechanical arm, including pedestal, mechanical-stretching arm and tool changing device, the present invention realizes whole positioning by the flexible of movement of the entirety on material bin guide rail and mechanical-stretching arm；The tool changing device includes shell, bolt disassembly module, voussoir dismounting module, briquetting dismounting module and hobboing cutter dismounting module, the bolt disassembly module, voussoir dismounting module, briquetting dismounting module and hobboing cutter dismounting module are arranged on shell, for realizing the dismounting of bolt, briquetting, voussoir and hobboing cutter.The present invention can replace artificial progress hobboing cutter tool changing operation, ensure the personal safety of construction personnel, save economic cost, improve tool changing efficiency.
Description
Technical field
The present invention relates to a kind of shield excavation machine tool changing device more particularly to a kind of major diameter slurry shield machine hobboing cutter tool changing
Manipulator.
Background technique
The core component that cutter is tunneled as slurry balance shield machine directly with front soil stone phase separation, especially boulder,
Under basement rock protrusion and upper soft lower hard equal geological conditions, generally existing abrasion and the serious problem of fracture failure.If shield cutter group
Single cutter in body is seriously worn, then will affect its knife group's entirety broken rock performance, therefore inspection in time, replacement cutter are
An inevitable job.At this stage, slurry shield is typically only capable under water using artificial warehouse entry tool changing mode with pressure, the work
Not only economic cost is high for industry mode, and task difficulty is big, and working efficiency is low, and has very big risk, is easy to happen safety
Accident.The automation that it is therefore desirable to design a kind of machine instead of artificial tool changing to realize shield tool changing, is completed instead of the mankind
Tool changing operation.For this tool-changing mechanical arm of the invention.
CN202483585U, which discloses a kind of hobboing cutter and unloads, takes equipment, in the device includes " the day word being welded by steel plate
Type " chassis, chassis top are equipped with jacking bolt hole and link bolt hole, and chassis lower part two sides are equipped with pedestal, pass through equipment periphery
Four jacking bolts hobboing cutter is slowly jacked up, thus achieve the purpose that dismantle hobboing cutter.This method uses original mechanical method,
The intensity and its stationarity for being screwed into speed of bolt are jacked dependent on four.
CN105855849A discloses a kind of shield machine list hobboing cutter tool-changing mechanical arm, which includes shell, on shell
It is solid to be provided with bolt disassembly module, trapezoidal voussoir dismounting module, rectangular voussoir dismounting module, axial-rotation module and hobboing cutter dismounting
Cover half block.It is provided with the first electromagnet, the second electromagnet and third electromagnet, it is electric so as to being sucked using being obtained by electromagnet
The mode of metal carries out the dismounting of voussoir and briquetting.This method obtains the electric electromagnetic force generated later dependent on electromagnet, still
The mud-filled severe tool changing environment of slurry shield will affect the reliability of the equipment.
Summary of the invention
The purpose of the present invention is to provide a kind of major diameter slurry shield hobboing cutter tool-changing mechanical arms；The tool-changing mechanical arm can
Well instead of the technology of existing artificial warehouse entry tool changing with pressure, the replacement of hobboing cutter safely, quickly, is economically realized, greatly
Accelerate the construction speed of excavation work.
In order to solve the above technical problems, major diameter slurry shield hobboing cutter tool-changing mechanical arm provided by the present invention, including base
Seat, mechanical-stretching arm, tool changing device；Mechanical-stretching arm one end and the pedestal are rotatablely connected；
The tool changing device includes shell, bolt disassembly module, voussoir dismounting module, briquetting dismounting module and hobboing cutter dismounting
Module；The housing tip is connected by first rotating shaft with the other end of the mechanical-stretching arm, and the shell passes through described the
The drive of one shaft is equipped with described first turn of driving to rotate around the axis of the first rotating shaft on the mechanical-stretching arm
Second rotary drive mechanism of axis rotation；
Hobboing cutter dismounting module includes that T shape sliding rail, the cutter holder gripping arm that rolls left, right hobboing cutter clamping limb, the cutter holder that rolls left are held
Hand, right hobboing cutter clamp hand, the first linear driving mechanism, and the T shape sliding rail is arranged on the housing, the cutter holder that rolls left
Gripping arm and right hobboing cutter clamping limb are correspondingly arranged, the cutter holder that rolls left hold hand and right hobboing cutter clamping hand pass through respectively first hydraulic cylinder and
Second hydraulic cylinder rolls left cutter holder gripping arm and right hobboing cutter clamping limb one end is connect, cutter holder gripping arm and the right hobboing cutter folder of rolling left with described
The other end of gripping arm is slidably connected with the T shape sliding rail；The cutter holder that rolls left described in the first linear driving mechanism drive is held
Hand and right hobboing cutter clamping hand move toward one another the clamping realized to hobboing cutter；
The briquetting dismounting module includes the first clamping strip, third hydraulic cylinder, the second linear driving mechanism, first folder
It holds item to be installed in the shell, including two briquetting clamping parts being correspondingly arranged, first clamping strip is linear by second
Driving mechanism drives described two briquetting clamping parts to move toward one another the clamping realized to the briquetting, the third hydraulic cylinder installation
In in the shell, the shell is extend out to drive second linear driving mechanism that first clamping strip is driven to move
Outside；
The voussoir dismounting module includes the second clamping strip, the 4th hydraulic cylinder, third linear driving mechanism, second folder
It holds item to be installed in the shell, including two voussoir clamping parts being correspondingly arranged, second clamping strip passes through third linear
Driving mechanism drives described two voussoir clamping parts to move toward one another the clamping realized to the voussoir, the 4th hydraulic cylinder installation
In in the shell, the shell is extend out to drive the third linear driving mechanism that second clamping strip is driven to move
Outside.
Further, the bolt disassembly module includes bolt collar, third rotary drive mechanism, the 4th linear driver
Structure, the bolt collar are installed in the shell；The third rotary drive mechanism connects with the bolt collar, for driving
Move the bolt collar rotation；First linear driving mechanism connects with the third rotary drive mechanism, described in driving
Third rotary drive mechanism drives the bolt collar to move along its axis and extend out to outside the shell.
Further, the mechanical-stretching arm includes the first rotary support, the second rotary support, the first joint arm, the second section
Arm, third joint arm, first rotary support are rotatablely connected by the first rotary drive mechanism and the pedestal；The first segment
Arm one end is connect by the second shaft with first rotary support, and first joint arm passes through the drive of second shaft
The of driving the second shaft rotation is equipped with to rotate around the axis of second shaft, on first rotary support
Four rotary drive mechanisms；The other end of first joint arm is connect by the first telescopic oil cylinder with second joint arm one end；Institute
The other end for stating the second joint arm is connect by the second telescopic oil cylinder with third joint arm；Second rotary support passes through third shaft
It is connect with the third joint arm, and second rotary support passes through the drive of the third shaft to surround the third shaft
Axis rotation, the 5th rotary drive mechanism for driving the third shaft rotation is installed in the third joint arm；The shell
Body is connect by the first rotating shaft with second rotary support, and second rotary drive mechanism is installed on second rotation
Turn on support.
Further, second shaft axis is vertical with the first rotary support rotation axis, the third shaft
Axis is parallel with second shaft axis, and the first rotating shaft axis is vertical with the third shaft axis.
Further, first rotary drive mechanism includes the first hydraulic motor, driving gear and pivoting support；It is described
The output end of first hydraulic motor is connect with the driving gear；The pivoting support and driving gear engaged transmission thus
Coupled mechanical-stretching arm is driven to link.
Further, the third rotary drive mechanism include the second hydraulic motor, second hydraulic motor with it is described
4th linear driving mechanism is fixedly connected；The output end of second hydraulic motor is connect with the bolt collar.
Further, the manipulator further includes air cushion storehouse guide rail, and the pedestal is equipped with sliding slot；The pedestal passes through institute
It states sliding slot to be slidably matched with air cushion storehouse guide rail, the pedestal drives it along air cushion storehouse guide rail by sliding driving device
Direction sliding.
Further, second rotary drive mechanism includes third motor；The third motor is passed by third gear
Motivation structure imparts power to the first rotating shaft.
Further, first linear driving mechanism is dual-rod hydraulic cylinder, the left extension end of the piston rod of dual-rod hydraulic cylinder
It is fixedly connected with the cutter holder gripping arm that rolls left, the right extension end of piston rod is fixedly connected with the right hobboing cutter clamping limb.
Further, the 4th rotary drive mechanism includes first motor；The first motor is passed by first gear
Motivation structure imparts power to second shaft；5th rotary drive mechanism includes the second motor；Second motor
The third shaft connection is imparted power to by second gear transmission mechanism.
The utility model has the advantages that
Tool changing device realizes whole positioning by the flexible and rotation of mechanical-stretching arm in the present invention, and accurate positioning is adjusted
Adjusting range is wide, and flexibility ratio is high, reliable operation, and the tool changing device includes shell, bolt disassembly module, voussoir dismounting module, pressure
Block dismounts module and hobboing cutter dismounts module, the bolt disassembly module, voussoir dismounting module, briquetting dismounting module and hobboing cutter dismounting
Module is arranged on shell, for realizing the dismounting of bolt, briquetting, voussoir and hobboing cutter, the artificial hobboing cutter that carries out can be replaced to change
Knife operation has ensured the personal safety of construction personnel, improves the efficiency of tool changing operation, save a large amount of replacement cutters when
Between, the construction speed of excavation work is accelerated, a large amount of manpower and economic cost have been saved, practical work can be effectively applied to
In journey.
Detailed description of the invention
Fig. 1 is tool-changing mechanical arm overall structure diagram；
Fig. 2 is tool-changing mechanical arm entirety front view；
Working state schematic representation when Fig. 3 is bolt disassembly module and briquetting dismounting module stretching；
Working state schematic representation when Fig. 4 is bolt disassembly module and briquetting dismounting module retraction；
Fig. 5 is working state schematic representation when voussoir dismounts module stretching；
Fig. 6 is working state schematic representation when voussoir dismounts module retraction；
Fig. 7 is that hobboing cutter dismounts module working state schematic representation；
Fig. 8 is the first clamping strip structural schematic diagram；
Fig. 9 is the second clamping strip structural schematic diagram；
Figure 10 is bolt disassembly modular structure schematic diagram；
Figure 11 is that hobboing cutter dismounts module partial structural diagram；
Figure 12 is telescopic arm partial structural diagram；
Figure 13 is the 5th rotary drive mechanism structural schematic diagram；
Figure 14 is the 4th rotary drive mechanism structural schematic diagram；
Wherein: 1- air cushion storehouse guide rail；2- pedestal；3- pivoting support；The first rotary support of 4-；The first joint arm of 5-；6- second
Joint arm；7- third joint arm；The second rotary support of 8-；9- third motor；10- first rotating shaft；The right hobboing cutter clamping limb of 11-；The right rolling of 12-
Cutter holder holds hand；The 13- cutter holder that rolls left holds hand；The second support of 14-；15- first hydraulic cylinder；The first support of 16-；The 17- cutter holder that rolls left is held
Arm；18-T shape sliding rail；19- shell；The first clamping strip of 20-；21- bolt collar；The second clamping strip of 22-；The second electricity of 23-
Machine；24- first motor；The first hydraulic motor of 25-；26- material bin cabinet；27- material bin bottom plate；28- briquetting；29- voussoir；
30- hobboing cutter；31- third support；32- second hydraulic cylinder；The 4th support of 33-；34- drives gear；35- bolt；36- third is hydraulic
Cylinder；The second linear driving mechanism of 37-；The 4th hydraulic cylinder of 38-；39- third linear driving mechanism；The second hydraulic motor of 40-；41-
4th linear driving mechanism；The first linear driving mechanism of 42-；The first telescopic oil cylinder of 43-；The second telescopic oil cylinder of 44-；45- third
Shaft；46- second gear transmission mechanism；The second shaft of 47-；48- first gear transmission mechanism.
Specific embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is further illustrated.
As depicted in figs. 1 and 2, major diameter slurry shield hobboing cutter tool-changing mechanical arm provided by the present invention, including pedestal, machine
Tool telescopic arm, tool changing device；Mechanical-stretching arm one end is rotatablely connected by the first rotary drive mechanism and the pedestal 2；
First rotary drive mechanism includes the first hydraulic motor 25, driving gear 34 and pivoting support 3；First hydraulic motor
25 output end is connect with the driving gear 34；3 outer ring of pivoting support and 34 engaged transmission of the driving gear thus
Coupled mechanical-stretching arm is driven to link；The tool changing device includes shell 19, bolt disassembly module, voussoir dismounting mould
Block, briquetting dismounting module and hobboing cutter dismount module；19 top of shell passes through first rotating shaft 10 and the mechanical-stretching arm
The other end connects, and the shell 19 surrounds the axis rotation of the first rotating shaft 10 by the drive of the first rotating shaft 10
Turn, the second rotary drive mechanism for driving the first rotating shaft 10 to rotate is installed on the mechanical-stretching arm.
As shown in Fig. 3, Fig. 4 and Figure 10, the bolt disassembly module include bolt collar 21, third rotary drive mechanism,
4th linear driving mechanism 41, the bolt collar 21 are installed in the shell 19；The third rotary drive mechanism and institute
It states bolt collar 21 to connect, for driving the bolt collar 21 to rotate；The third rotary drive mechanism includes second hydraulic
Motor 40, second hydraulic motor 40 are installed in the shell 19；The output end of second hydraulic motor 40 with it is described
Bolt collar 21 connects；4th linear driving mechanism 41 connects with second hydraulic motor, to drive second liquid
Pressure motor 40 drives the bolt collar 21 to move along its axis and extend out to outside the shell；4th linear driving mechanism 41 is one
Hydraulic cylinder, the hydraulic cylinder are fixedly connected with shell 19, and output end is connect with second hydraulic motor.
As seen in figs. 7 and 11, the hobboing cutter dismounting module includes T shape sliding rail 18, the cutter holder gripping arm 17 that rolls left, right rolling
Cutter holder gripping arm 11, right hobboing cutter clamping hand 12, the cutter holder that rolls left hold hand 13, the first linear driving mechanism 42, the T shape sliding rail 18
One end opposite with the bolt collar 21 on the shell 19, cutter holder gripping arm 17 and the right hobboing cutter clamping limb of rolling left are set
11 are correspondingly arranged, and the cutter holder that rolls left holds hand 13 and right hobboing cutter clamping hand 12 respectively by first hydraulic cylinder 15 and second hydraulic cylinder
32 connect with one end of roll left cutter holder gripping arm 17 and the right hobboing cutter clamping limb 11, cutter holder gripping arm 17 and the right hobboing cutter folder of rolling left
The other end of gripping arm 11 is slidably connected with the T shape sliding rail 18；First is fixed in the cutter holder gripping arm 17 that rolls left
Seat 16, first hydraulic cylinder 15 connects with first support 16, and 15 piston rod of first hydraulic cylinder is connected to the second support 14
On, second support 14 is fixed on the cutter holder that rolls left and holds on hand 13, is fixed with third support on the right hobboing cutter clamping limb 11
31, second hydraulic cylinder 32 connects with the 4th support 33, and 32 piston rod of second hydraulic cylinder is connected on the 4th support 33,
4th support 33 is fixed on right hobboing cutter clamping hand 12；First linear driving mechanism 42 is a dual-rod hydraulic cylinder, institute
The left extension end of piston rod for stating dual-rod hydraulic cylinder is fixedly connected with the cutter holder gripping arm 17 that rolls left, the right extension end of piston rod with it is described
Right hobboing cutter clamping limb 11 is fixedly connected, and holds hand 13 by the cutter holder that rolls left described in dual-rod hydraulic cylinder drive and right hobboing cutter clamps hand
12 move toward one another the clamping realized to hobboing cutter.
As shown in Fig. 3, Fig. 4 and Fig. 8, the briquetting dismounting module includes the first clamping strip 20, third hydraulic cylinder 36, second
Linear driving mechanism 37, first clamping strip 20 are installed in the shell 19, including the two briquettings clamping being correspondingly arranged
Portion 201,202, briquetting upper and lower end face are equipped with groove corresponding with the briquetting clamping part；First clamping strip 20 passes through described
Second linear driving mechanism 37 drives described two briquetting clamping parts 201,202 to move toward one another the folder realized to the briquetting 28
It holds, the third hydraulic cylinder 36 is installed in the shell 19, to drive second linear driving mechanism 37 to drive described
The movement of one clamping strip 20 is extend out to outside the shell；Second linear driving mechanism 37 is a dual-rod hydraulic cylinder, and the double rod is hydraulic
The left extension end of the piston rod of cylinder is connect with a briquetting clamping part 201, and the right extension end of piston rod and another briquetting clamping part 202 connect
It connects, 36 output end of third hydraulic cylinder is connect with the dual-rod hydraulic cylinder.
As shown in Fig. 5, Fig. 6 and Fig. 9, the voussoir dismounting module includes the second clamping strip 22, the 4th hydraulic cylinder 38, third
Linear driving mechanism 39, second clamping strip 22 are installed in the shell 19, including the two voussoirs clamping being correspondingly arranged
Portion 221,222, voussoir upper and lower end face are equipped with groove corresponding with the voussoir clamping part；Second clamping strip 22 passes through third
Linear driving mechanism 39 drives described two voussoir clamping parts 221,222 to move toward one another the clamping realized to the voussoir 29, institute
It states the 4th hydraulic cylinder 38 to be installed in the shell 19, to drive the third linear driving mechanism 39 to drive second clamping
Item 22 is extend out to outside the shell 19, and third linear driving mechanism 39 is a dual-rod hydraulic cylinder, the piston of the dual-rod hydraulic cylinder
The left extension end of bar is connect with a wherein voussoir clamping part 221, and the right extension end of piston rod is connect with another voussoir clamping part 222, institute
38 output end of the 4th hydraulic cylinder is stated to connect with the dual-rod hydraulic cylinder.
As shown in Figure 1, Figure 2, shown in Figure 12-Figure 14, the mechanical-stretching arm includes the first rotary support 4, the second rotary support
8, the first joint arm 5, the second joint arm 6, third joint arm 7, first rotary support 4 link with the pivoting support 3；Described first
5 one end of joint arm is connect by the second shaft 47 with first rotary support 4, and first joint arm 5 passes through described second turn
The drive of axis 47 is equipped with driving described the to rotate around the axis of second shaft 47, on first rotary support 4
The 4th rotary drive mechanism of two shafts 47 rotation, the 4th rotary drive mechanism includes first motor 24；Described
One motor 24 imparts power to second shaft 47 by first gear transmission mechanism 48,47 axis of the second shaft with
First rotary support, 4 rotation axis is vertical；The other end of first joint arm 5 passes through the first telescopic oil cylinder 43 and described the
The connection of two joint arms, 6 one end；The other end of second joint arm 6 is connect by the second telescopic oil cylinder 44 with third joint arm 7；Described
Two rotary supports 8 are connect by third shaft 45 with the third joint arm 7, and second rotary support 7 passes through the third
The drive of shaft 45 is equipped with the driving third to rotate around the axis of the third shaft 45 in the third joint arm 7
The 5th rotary drive mechanism that shaft 45 rotates, the 5th rotary drive mechanism include the second motor 23；Second motor
23 impart power to the third shaft 45 by second gear transmission mechanism 46,45 axis of third shaft and described the
Two shafts, 47 axis is parallel；The shell 19 is connect by the first rotating shaft 10 with second rotary support 8, and described second
Rotary drive mechanism includes third motor 9, and the third motor 9 is installed on second rotary support 8, the third motor
9 impart power to the first rotating shaft 10,10 axis of first rotating shaft and the third by third gear drive
45 axis of shaft is vertical.
As shown in Figs. 1-2, the manipulator further includes air cushion storehouse guide rail 1, and air cushion storehouse guide rail 1 is fixed on big straight
In the material bin of diameter slurry shield machine, one end is extended in the air cushion storehouse of major diameter slurry shield machine, and the pedestal 2, which is equipped with, to be slided
Slot；The pedestal 2 is slidably matched by the sliding slot with air cushion storehouse guide rail 1, and the pedestal 2 passes through sliding driving device band
It is moved to slide along 1 direction of air cushion storehouse guide rail.
Illustrate a tool changing operation process of the invention with reference to the accompanying drawing.
Old hobboing cutter demounting procedure:
Step 1: the present invention is whole from material bin by pedestal 2, mechanical-stretching arm and tool changing device by air cushion storehouse guide rail 1
It is moved to air cushion storehouse.
Step 2: the first hydraulic motor 25 of starting, the first hydraulic motor 25 drive 3 turns of pivoting support by driving gear 34
Dynamic, pivoting support 3 drives mechanical-stretching arm and whole 45 ° of the rotation counterclockwise of tool changing device, closes the first hydraulic motor 25.
Step 3: starting first motor 24, first motor 24 drive mechanical-stretching arm and tool changing device to rotate 30 ° upwards,
Close first motor 24.
Step 4: by telescopic oil cylinder the second joint arm 6 and third joint arm 7 are stretched out.
Step 5: starting third motor 9, third motor 9 drive tool changing device to rotate clockwise, bolt collar 21 are aligned
Bolt 35 makes the axial movement of bolt collar 21 entangle bolt 35, and passes through the second hydraulic horse by the 4th linear driving mechanism 41
It drives bolt collar 21 to rotate up to 40, after bolt 35 is screwed out about 15mm, closes third motor 9.
Step 6: the movement of the first clamping strip 20 is driven by third hydraulic cylinder 36, makes 201,202 points of two briquetting clamping parts
It does not extend into 28 upper and lower surfaces groove of briquetting, drives described two briquettings to clamp by the second linear driving mechanism 37
Portion 201,202, which moves toward one another, clamps briquetting 28, as shown in Figure 3.
Step 7: the first clamping strip 20, while shrinking bolt sleeve 21 are shunk, as shown in Figure 4.
Step 8: retracting the second joint arm 6 and third joint arm 7, starts first motor 24, and first motor 24 drives mechanical-stretching
Arm and tool changing device are integrally rotated down 30 °, close first motor 24.
Step 9: the first hydraulic motor 25 of starting, the first hydraulic motor 25 drive 3 turns of pivoting support by driving gear 34
Dynamic, pivoting support 3 drives mechanical-stretching arm and tool changing device integrally to rotate clockwise 45 °, closes the first hydraulic motor 25.
Step 10: starting third motor 9, third motor 9 drive tool changing device rotation 180.
Step 11: by air cushion storehouse guide rail 1, pedestal 2, mechanical-stretching arm and tool changing device are moved integrally to material
Storehouse starts the second motor 23, and the second motor 23 drives tool changing device to rotate 30 ° upwards, extends the first clamping strip 20, by bolt with
Briquetting 28 is placed into material bin cabinet 26, then shrinks the first clamping strip 20, and tool changing device is enabled to be rotated down 30 °, is restored
Horizontal position.
Step 12: by air cushion storehouse guide rail 1, pedestal 2, mechanical-stretching arm and tool changing device is whole mobile from material bin
To air cushion storehouse, the cutter holder that will roll left holds hand 13 and right hobboing cutter clamping hand 12 is directed at 30 cutter ring of hobboing cutter.
Step 13: while starting first hydraulic cylinder 15 and second hydraulic cylinder 32,15 piston rod of first hydraulic cylinder and second
32 piston rod of hydraulic cylinder elongation, drive roll left cutter holder hold hand 13 and right hobboing cutter clamping hand 12 extend forward, pass through dual-rod hydraulic cylinder
Cutter holder gripping arm 17 is rolled left in drive and right hobboing cutter clamping limb 11 is moved along T shape sliding rail 18 to centre, until clamping hobboing cutter 30
Then cutter ring drives hobboing cutter 30 to continue to move along 5mm, so that generating certain interval between voussoir 29 and hobboing cutter 30, facilitates wedge
The taking-up of block 29.
Step 14: unclamping 30 cutter ring of hobboing cutter, controls first hydraulic cylinder 15 and second hydraulic cylinder 32, and the cutter holder that rolls left is enabled to hold hand
13 and right hobboing cutter clamping hand 12 shrink, shrink third joint arm 7, to tool changing device commutation reserve sufficient space.
Step 15: starting third motor 9, third motor 9 drive tool changing device rotation 180.
Step 10 six: enabling third joint arm 7 extend, and controls pivoting support 3 by the first hydraulic motor 25 and rotates clockwise, will
Second clamping strip 22 is directed at 29 surface groove of voussoir of 30 side of hobboing cutter, drives the second clamping strip 22 fortune by the 4th hydraulic cylinder 38
It is dynamic, it extend into two briquetting clamping parts respectively in 29 upper and lower surfaces groove of voussoir, passes through third linear driving mechanism
39 drive described two voussoir clamping parts 221,222 to move toward one another clamps voussoir 29 up and down, as shown in Figure 5.
Step 10 seven: then, the second clamping strip 22 is shunk, voussoir 29 is taken back, as shown in Figure 6.
Step 10 eight: voussoir 29 is placed into material bin cabinet 26 by air cushion storehouse guide rail 1.
Step 10 nine: by similar approach, the voussoir 29 of 30 other side of hobboing cutter is removed, material bin cabinet 26 is placed into
It is interior.
Step 2 ten: pivoting support 3 extends the second joint arm with moving base 2, mechanical-stretching arm and tool changing device unitary rotation
6 and third joint arm 7, the cutter holder that will roll left holds hand 13 and right hobboing cutter clamping hand 12 is directed at 30 cutter ring of hobboing cutter.
Step 2 11: starting first hydraulic cylinder 15 and second hydraulic cylinder 32 enable the cutter holder that rolls left hold hand 13 and right hobboing cutter folder
It holds hand 12 to extend forward, drives the cutter holder that rolls left to hold hand 13 and right hobboing cutter clamping hand 12 by dual-rod hydraulic cylinder and slide rail along T shape
Road 18 is mobile to centre, until clamping 30 cutter ring of hobboing cutter, as shown in Figure 7.
Step 2 12: the control cutter holder that rolls left holds hand 13 and right hobboing cutter clamping hand 12 is shunk, thus by hobboing cutter 30 from girff
Middle dismounting.
The installation of new hobboing cutter:
Step 1: state when new hobboing cutter is dismantled by old hobboing cutter is fixed on a robotic arm, passes through 1 pedestal of air cushion storehouse guide rail
2 move forward, and start the first hydraulic motor 25, pivoting support 3 is enabled integrally to revolve with moving base 2, mechanical-stretching arm and tool changing device
Turn, extend the second joint arm 6 and third joint arm 7, hobboing cutter 30 is directed at tool apron.
Step 2: starting first hydraulic cylinder 15 and second hydraulic cylinder 32 extend the cutter holder that rolls left and hold hand 13 and the clamping of right hobboing cutter
Hobboing cutter 30 is placed on original position by hand 12.
Step 3: shrinking the second joint arm 6 and third joint arm 7, starts the first hydraulic motor 25, drives pivoting support 3 whole
Body rotates clockwise 45 °, and tool changing device is enabled to return to initial position
Step 4: starting third motor 9, third motor 9 drive tool changing device rotation 180.
Step 5: by air cushion storehouse guide rail 1, being moved to material bin for pedestal 2, and the second clamping strip 22 is directed at material bin case
Groove in body 26 at 29 surface of side voussoir.
Step 6: the second clamping strip 22 of elongation controls voussoir clamping part by third linear driving mechanism 39 and clamps up and down
Voussoir 29 shrinks the second clamping strip 22, voussoir 29 is taken out from material bin cabinet 26.
Step 7: the second motor 23 of starting enables tool changing device be rotated down 30 °, restores horizontal position, with 35 He of bolt
Briquetting 28 is moved forward by the way that air cushion storehouse guide rail 1 is whole together, starts first hydraulic cylinder 15, enables pivoting support 3 drive whole inverse
Hour hands rotate 45 °, extend the second joint arm 6 and third joint arm 7, start third motor 9, rotate tool changing device, and voussoir 29 is enabled to be aligned
Original position in girff, starts first hydraulic cylinder 15 and second hydraulic cylinder 32, and the cutter holder that rolls left holds hand 13 and right hobboing cutter clamping hand 12
Elongation, is placed on original position for voussoir 29.
Step 8: by similar approach, other side voussoir 29 is taken out from material bin cabinet 26, and is placed into girff
Original position.
Step 9: by air cushion storehouse guide rail 1, pedestal 2 is moved to material bin.
Step 10: control bolt collar 21, which entangles, is placed on bolt in material bin cabinet 26 when dismantling old hobboing cutter, enables the
One clamping strip 20 is directed at 28 surface groove of briquetting in material bin cabinet 26, extends the first clamping strip 20, passes through the second Linear Driving
Mechanism 37 controls the first about 20 clamping strip and clamps briquetting 28.
Step 11: the second motor 23 of starting enables tool changing device be rotated down 30 °, restores horizontal position, with bolt 35
It is moved forward together by the way that air cushion storehouse guide rail 1 is whole with briquetting 28, starts the first hydraulic motor 25, enable pivoting support 3 drive whole
Body rotates 45 ° counterclockwise, extends the second joint arm 6 and third joint arm 7, starts third motor 9, rotates tool changing device, enables briquetting 28
It is directed at original position with bolt 35, starts third hydraulic cylinder 36, briquetting 28 and bolt 35 are placed on by the elongation of the first clamping strip 20
Original position.
Step 12: it drives bolt collar 21 to rotate by the second hydraulic motor 40, bolt 35 is screwed.
Step 13: dress knife finishes, and by air cushion storehouse guide rail 1, tool-changing mechanical arm is integrally exited.
Claims (10)
1. a kind of major diameter slurry shield machine hobboing cutter tool-changing mechanical arm, including pedestal, mechanical-stretching arm, tool changing device；Its feature
It is:
Mechanical-stretching arm one end and the pedestal are rotatablely connected；
The tool changing device includes shell, bolt disassembly module, voussoir dismounting module, briquetting dismounting module and hobboing cutter dismounting mould
Block；The housing tip is connected by first rotating shaft with the other end of the mechanical-stretching arm, and the shell passes through described first
The drive of shaft is equipped with the driving first rotating shaft to rotate around the axis of the first rotating shaft on the mechanical-stretching arm
Second rotary drive mechanism of rotation；
Hobboing cutter dismounting module includes that T shape sliding rail, the cutter holder gripping arm that rolls left, right hobboing cutter clamping limb, the cutter holder that rolls left hold hand, the right side
Hobboing cutter clamps hand, the first linear driving mechanism, and the T shape sliding rail is arranged on the housing, the cutter holder gripping arm that rolls left
It is correspondingly arranged with right hobboing cutter clamping limb, the cutter holder that rolls left holds hand and right hobboing cutter clamping hand passes through first hydraulic cylinder and second respectively
Hydraulic cylinder rolls left cutter holder gripping arm and right hobboing cutter clamping limb one end is connect, cutter holder gripping arm and the right hobboing cutter clamping limb of rolling left with described
The other end be slidably connected with the T shape sliding rail；First linear driving mechanism drive described in roll left cutter holder hold hand and
Right hobboing cutter clamping hand moves toward one another the clamping realized to hobboing cutter；
The briquetting dismounting module includes the first clamping strip, third hydraulic cylinder, the second linear driving mechanism, first clamping strip
It is installed in the shell, including two briquetting clamping parts being correspondingly arranged, first clamping strip passes through the second Linear Driving
Mechanism drives described two briquetting clamping parts to move toward one another the clamping realized to briquetting, and the third hydraulic cylinder is installed on the shell
In vivo, to drive second linear driving mechanism that the first clamping strip movement is driven to extend out to outside the shell；
The voussoir dismounting module includes the second clamping strip, the 4th hydraulic cylinder, third linear driving mechanism, second clamping strip
It is installed in the shell, including two voussoir clamping parts being correspondingly arranged, second clamping strip is driven by third linear
Mechanism drives described two voussoir clamping parts to move toward one another the clamping realized to voussoir, and the 4th hydraulic cylinder is installed on the shell
In vivo, to drive the third linear driving mechanism that the second clamping strip movement is driven to extend out to outside the shell.
2. major diameter slurry shield machine hobboing cutter tool-changing mechanical arm according to claim 1, it is characterised in that: the bolt is torn open
Die-filling piece includes bolt collar, third rotary drive mechanism, the 4th linear driving mechanism, and the bolt collar is installed on the shell
In vivo；The third rotary drive mechanism connects with the bolt collar, for driving the bolt collar to rotate；Described 4th
Linear driving mechanism connects with the third rotary drive mechanism, to drive the third rotary drive mechanism to drive the bolt
Sleeve, which moves along its axis, to be extend out to outside the shell.
3. major diameter slurry shield machine hobboing cutter tool-changing mechanical arm according to claim 2, it is characterised in that: the machinery is stretched
Contracting arm includes the first rotary support, the second rotary support, the first joint arm, the second joint arm, third joint arm, first rotary support
It is rotatablely connected by the first rotary drive mechanism and the pedestal；First joint arm one end passes through the second shaft and described first
Rotary support connection, and first joint arm surrounds the axis rotation of second shaft by the drive of second shaft
Turn, the 4th rotary drive mechanism for driving the second shaft rotation is installed on first rotary support；The first segment
The other end of arm is connect by the first telescopic oil cylinder with second joint arm one end；The other end of second joint arm passes through second
Telescopic oil cylinder is connect with third joint arm；Second rotary support is connect by third shaft with the third joint arm, and described
The axis that second rotary support surrounds the third shaft by the drive of the third shaft rotates, in the third joint arm
The 5th rotary drive mechanism for driving the third shaft rotation is installed；The shell passes through the first rotating shaft and described the
The connection of two rotary supports, second rotary drive mechanism are installed on second rotary support.
4. major diameter slurry shield machine hobboing cutter tool-changing mechanical arm according to claim 3, it is characterised in that: described second turn
Axis axis is vertical with the first rotary support rotation axis, and the third shaft axis is parallel with second shaft axis,
The first rotating shaft axis is vertical with the third shaft axis.
5. major diameter slurry shield machine hobboing cutter tool-changing mechanical arm according to claim 3, it is characterised in that: first rotation
Turning driving mechanism includes the first hydraulic motor, driving gear and pivoting support；The output end of first hydraulic motor with it is described
Drive gear connection；The pivoting support and driving gear engaged transmission are to drive coupled mechanical-stretching arm to join
It is dynamic.
6. major diameter slurry shield machine hobboing cutter tool-changing mechanical arm according to claim 2, it is characterised in that: the third rotation
Turning driving mechanism includes the second hydraulic motor, and second hydraulic motor is fixedly connected with the 4th linear driving mechanism；Institute
The output end for stating the second hydraulic motor is connect with the bolt collar.
7. major diameter slurry shield machine hobboing cutter tool-changing mechanical arm according to claim 1, it is characterised in that: the manipulator
It further include air cushion storehouse guide rail, the pedestal is equipped with sliding slot；The pedestal is slided by the sliding slot and air cushion storehouse guide rail
Cooperation, the pedestal drive it to slide along air cushion storehouse guide rail direction by sliding driving device.
8. major diameter slurry shield machine hobboing cutter tool-changing mechanical arm according to claim 1, it is characterised in that: second rotation
Turning driving mechanism includes third motor；The third motor imparts power to described first turn by third gear drive
Axis.
9. major diameter slurry shield machine hobboing cutter tool-changing mechanical arm according to claim 1, it is characterised in that: the First Line
Property driving mechanism be dual-rod hydraulic cylinder, the left extension end of the piston rod of dual-rod hydraulic cylinder is fixedly connected with the cutter holder gripping arm that rolls left,
The right extension end of piston rod is fixedly connected with the right hobboing cutter clamping limb.
10. major diameter slurry shield machine hobboing cutter tool-changing mechanical arm according to claim 3, it is characterised in that: the described 4th
Rotary drive mechanism includes first motor；The first motor imparts power to described second by first gear transmission mechanism
Shaft；5th rotary drive mechanism includes the second motor；Second motor passes through second gear transmission mechanism for power
Pass to the third shaft connection.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710153382.5A CN106926267B (en) | 2017-03-15 | 2017-03-15 | A kind of major diameter slurry shield machine hobboing cutter tool-changing mechanical arm |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710153382.5A CN106926267B (en) | 2017-03-15 | 2017-03-15 | A kind of major diameter slurry shield machine hobboing cutter tool-changing mechanical arm |
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| CN106926267A CN106926267A (en) | 2017-07-07 |
| CN106926267B true CN106926267B (en) | 2019-04-30 |
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| JP4878990B2 (en) * | 2006-11-14 | 2012-02-15 | 株式会社大林組 | Excavator and excavator using the same |
| CN101899978B (en) * | 2010-02-04 | 2012-10-03 | 上海隧道工程股份有限公司 | Method for replacing shield cutter in sand-pebble layer |
| CN102322271B (en) * | 2011-10-10 | 2013-07-17 | 沈阳重型机械集团有限责任公司 | Tool pan back-loading type device for changing tool of slurry-balanced shield machine under normal pressure |
| CN105781563B (en) * | 2016-03-22 | 2017-12-01 | 东北大学 | A kind of slurry balance shield machine auxiliary tool changing device and its application method |
| CN105773596B (en) * | 2016-03-28 | 2017-09-26 | 东北大学 | It is a kind of to be used for the module of assembled shield machine tool changing robot arm |
| CN105855849B (en) * | 2016-04-14 | 2017-12-01 | 东北大学 | A kind of shield machine list hobboing cutter tool-changing mechanical arm |
| CN105965503B (en) * | 2016-07-06 | 2018-01-02 | 东北大学 | A kind of hydraulic manipulator suitable for shield machine tool changing operation |
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