CN108161917A - A kind of Snakelike mechanical arm for shield cutter detection - Google Patents
A kind of Snakelike mechanical arm for shield cutter detection Download PDFInfo
- Publication number
- CN108161917A CN108161917A CN201810226784.8A CN201810226784A CN108161917A CN 108161917 A CN108161917 A CN 108161917A CN 201810226784 A CN201810226784 A CN 201810226784A CN 108161917 A CN108161917 A CN 108161917A
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- China
- Prior art keywords
- joint
- mechanical arm
- shield cutter
- snakelike
- hinge pin
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
- B25J9/065—Snake robots
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
- Manipulator (AREA)
Abstract
A kind of Snakelike mechanical arm for shield cutter detection, it includes mechanical arm system and rotary system, wherein, mechanical arm system realizes the pendulum motion of the Snakelike mechanical arm, including the first swinging joint and the second swinging joint, first swinging joint is fixedly connected with pedestal, and rotary system is connected between first swinging joint and the second swinging joint and realizes the rotary motion of the Snakelike mechanical arm；The Snakelike mechanical arm realizes the omnibearing movable in shield cutter spatial dimension to shield cutter state detect without dead angle by its pendulum motion and rotary motion.The present invention has the advantages that simple in structure, movement is flexible, the equipment such as illumination, visiting, maintenance and cleaning can be carried, replacement is manually entered in the narrow severe space of shield cutter, the detection without dead angle in shield cutter space is completed, substantially increases the overhaul efficiency of shield cutter and cutter.
Description
Technical field
The present invention relates to the construction detection devices of Tunnel Engineering, and in particular to one kind is used for shield cutter and its attached cutter
Detection Snakelike mechanical arm, belong to constructional engineering machinery technical field.
Background technology
With the development of robot technology and modern control theory technology, robot technology of today has incorporated life
Every aspect, people using robot come complete some manpowers can not complete or be unable to high quality completion task, particularly
Disaster relief search mission, outer space scientific exploration task and medical application fields.Snake-shaped robot is as newborn bionical machine
Device people either still has important researching value and meaning in bionic field in other fields of robot.
During shield tunnel construction, the behaviour in service of cutterhead and its attached cutter is directly related to the construction quality in tunnel
And efficiency, it is therefore desirable to which periodic inspection is carried out to it.Shield machine in tunneling at the scene, cutterhead maintenance environment is often adjoint to be
High pressure, thick mud, high humility etc., therefore artificial maintenance is difficult huge, manual work is more especially in the tunnel of part great burying
It is such.At present, the maintenance generally use of cutterhead and its attached cutter manually carries out during shield tunnel construction, and cutterhead is examined
The environment repaiied is complicated, causes manually to overhaul difficult huge.
Therefore it is narrow to enter shield cutter space to substitute manual work for the robot that exploitation is suitable for shield cutter maintenance
In small adverse circumstances, and carry the equipment such as illumination, the hydraulic giant visited and clean for cutterhead, overhauled for cutterhead provide it is very big
Facility, have huge realistic meaning and market potential.
Invention content
It is an object of the invention to solve to be difficult to manual work in the adverse circumstances in narrow shield cutter space
Technical problem provides a kind of Snakelike mechanical arm for shield cutter detection, can carry illumination, visiting and cleaning etc. and set
It is standby, it is manually entered the maintenance that cutterhead and attached cutter are completed in the narrow severe space of shield cutter so as to substitute.
The present invention is to solve its technical problem by the following technical programs：
A kind of Snakelike mechanical arm for shield cutter detection, including mechanical arm system and rotary system, wherein, machinery
Arm system realizes the pendulum motion of the Snakelike mechanical arm, including the first swinging joint and the second swinging joint, first swing
Joint is fixedly connected with pedestal, and rotary system is connected between first swinging joint and the second swinging joint and realizes the snake
The rotary motion of shape mechanical arm；The Snakelike mechanical arm is realized by its pendulum motion and rotary motion in shield cutter space model
It encloses interior omnibearing movable and shield cutter state detected without dead angle.
Further, first swinging joint includes the first male joint, the first female joint, the first hinge pin seat and first
A side of oscillating oil cylinder, first male joint and the first female joint is connected by first hinge pin seat, and another side leads to
The first oscillating oil cylinder connection is crossed, realizes that described first closes by flexible and the first hinge pin seat the rotation of the first oscillating oil cylinder
The swing of section；
Second swinging joint includes the second male joint, the second female joint, the second hinge pin seat and the second oscillating oil cylinder,
Second male joint is connected with a side of the second female joint by second hinge pin seat, and another side passes through described second
Oscillating oil cylinder connects, and the swing of the second joint is realized by flexible and the second hinge pin seat the rotation of the second oscillating oil cylinder.
Further, the rotary system includes pivoting support, pinion gear and driving motor, and the pivoting support includes
Outer ring and inner ring, the inner ring are embedded among the outer ring and rotate in the outer ring, the outer ring and described second
Male joint is fixedly connected, and the inner ring is fixedly connected with first female joint, and the inside of the inner ring is equipped with internal gear, the drive
Dynamic motor is fixedly connected in second male joint, the pinion gear be fixed on the output shaft of the driving motor and with it is described
The internal gear engagement of inner ring；
The driving motor drives the pinion rotation, which drives institute by engaging the internal gear of the inner ring
It states outer ring and the second male joint is rotated around its axis, opposite rotary motion is formed, and then realize with first female joint
The rotary motion of the Snakelike mechanical arm.
Further, the pinion gear and driving motor are provided with two groups, respectively about the center of the pivoting support
It is arranged symmetrically.
Further, first male joint, the first female joint, the second male joint and the second female joint are cylindrical shape,
The both ends of first hinge pin seat and the first oscillating oil cylinder are separately fixed at the inner wall of first male joint and the first female joint
On, the both ends of second hinge pin seat and the second oscillating oil cylinder are separately fixed at the interior of second male joint and the second female joint
On wall.
Further, the Snakelike mechanical arm includes the structure that multigroup mechanical arm system and rotary system are connected.
Compared with manual work, Snakelike mechanical arm device provided by the invention can enter the severe ring of narrow space
It works in border, it is simple for structure, have the advantages that overall structure omnibearing movable is flexible, it is real that computer control can be combined
The work such as now illumination, cleaning, reparation substantially increase the overhaul efficiency of shield cutter and cutter.
Description of the drawings
Fig. 1 is the shaft side figure of the present invention.
Fig. 2 is the structure sectional view of the present invention.
Fig. 3 is the sectional view of the pivoting support structure of the present invention.
In figure,
1.1-the second male joint, the 1.2-the first male joint, the 2.1-the second female joint, the 2.2-the first female joint, 3-return
Turn to support, 3.1-outer ring, 3.2-inner ring, the 4.1-the second oscillating oil cylinder, the 4.2-the first oscillating oil cylinder, 5-driving motor,
6-pinion gear, the 7.1-the second hinge pin seat, the 7.2-the first hinge pin seat.
Specific embodiment
Come in the following with reference to the drawings and specific embodiments to the Snakelike mechanical arm of the present invention for shield cutter detection
It is described in further detail.
Please refer to Fig. 1 and 2, it is illustrated that the Snakelike mechanical arm for shield cutter detection includes mechanical arm system and revolution
System, wherein, mechanical arm system is connected on rotary system, and mechanical arm system realizes the swing fortune of the Snakelike mechanical arm in itself
Dynamic, rotary system realizes whole rotary motion of the Snakelike mechanical arm around joints axes, and the Snakelike mechanical arm is put by it
Dynamic movement and rotary motion realize the omnibearing movable in shield cutter spatial dimension and carry out nothing to shield cutter state
It detects at dead angle.
The mechanical arm system includes the first swinging joint and the second swinging joint, which is snakelike machinery
The first segment of arm configuration is fixed on specific pedestal, the front end of the second swinging joint can install illumination, visiting, maintenance with
And the equipment such as cleaning.
First swinging joint includes the first male joint 1.2, the first female joint 2.2, the first hinge pin seat 7.2 and first
Oscillating oil cylinder 4.2；A side of first male joint, 1.2 and first female joint 2.2 is connected by first hinge pin seat 7.2
It connects, another side is connected by first oscillating oil cylinder 4.2.First male joint, 1.2 and first female joint 2.2 is cylinder
Shape, one end of first hinge pin seat 7.2 are fixed on the inner wall of first male joint 1.2, and the other end is fixed on described
On the inner wall of one female joint 2.2, the rotation of first hinge pin seat 7.2 makes 1.2 and first female joint 2.2 of the first male joint
Axis generates relative angle variation.Similarly the both ends of first oscillating oil cylinder 4.2 are separately fixed at first male joint
1.2 and first female joint 2.2 inner wall on, the rotation for passing through flexible and the first hinge pin seat 7.2 of first oscillating oil cylinder 4.2 is real
The swing of existing first swinging joint.
Identical with the structure of first swinging joint, second swinging joint includes the second male joint 1.1, second
Female joint 2.1, the second hinge pin seat 7.1 and the second oscillating oil cylinder 4.1；The one of second male joint, 1.1 and second female joint 2.1
Side is connected by second hinge pin seat 7.1, and another side is connected by second oscillating oil cylinder 4.1.Described second is public
1.1 and second female joint 2.1 of joint is cylindrical shape, and one end of second hinge pin seat 7.1 is fixed on second male joint 1.1
Inner wall on, the other end is fixed on the inner wall of second female joint 2.1, and the rotation of second hinge pin seat 7.1 makes described
The axis of two male joints 1.1 and the second female joint 2.1 generates relative angle variation.Similarly second oscillating oil cylinder 4.1
Both ends are separately fixed on the inner wall of 1.1 and second female joint 2.1 of the second male joint, by controlling second oscillating oil cylinder
The swing of second swinging joint is realized in 4.1 flexible and the second hinge pin seat 7.1 rotation.
The rotary system is connected between first swinging joint and the second swinging joint, including pivoting support 3, small
Gear 6 and driving motor 5 please refer to Fig. 2 and Fig. 3, and the pinion gear 6 and driving motor 5 are provided with two groups, respectively about institute
State being centrosymmetrically arranged for pivoting support 3.
Referring to Fig. 3, the pivoting support 3 includes outer ring 3.1 and inner ring 3.2；The inner ring 3.2 is embedded at the outer ring
It rotates among 3.1 and in the outer ring 3.1.The outer ring 3.1 is bolted with second male joint 1.1
Connection, the inner ring 3.2 are bolted to connection with first female joint 2.2；The inside of the inner ring 3.2 is equipped with internal tooth
Wheel, the driving motor 5 are fixedly connected in second male joint 1.1, and the pinion gear 6 is fixed on the driving motor 5
On output shaft, the internal gear of the inner ring 3.2 is meshed simultaneously with two pinion gears 6.
The driving motor 5 drives the pinion gear 6 to rotate, and the pinion gear 6 is by engaging the internal gear of the inner ring 3.2
3.1 and second male joint 1.1 of outer ring is driven to be rotated around itself axis, formed second male joint 1.1 with it is described
Opposite rotary motion between first female joint 2.2 is completed opposite between first swinging joint and the second swinging joint
Revolution, so as to fulfill the rotary motion of the Snakelike mechanical arm.
Other than structure described in above-described embodiment, the Snakelike mechanical arm can also be that multigroup mechanical arm system and revolution are
The structure of system series connection re-extends in the front end of the second female joint 2.1 and connects multigroup male joint and the swing pass of female joint composition
Section and pivoting support, so as to fulfill the omnibearing movable in the shield cutter spatial dimension of bigger, to shield cutter and cutter
State carries out the detection without dead angle.
Claims (6)
1. a kind of Snakelike mechanical arm for shield cutter detection, it is characterised in that：The Snakelike mechanical arm includes mechanical arm system
System and rotary system, wherein, mechanical arm system realizes the pendulum motion of the Snakelike mechanical arm, including the first swinging joint and the
Two swinging joints, first swinging joint are fixedly connected with pedestal, and rotary system is connected to first swinging joint and the second pendulum
Between movable joint and realize the rotary motion of the Snakelike mechanical arm；The Snakelike mechanical arm is transported by its pendulum motion and revolution
It moves and realizes the omnibearing movable in shield cutter spatial dimension and shield cutter state detected without dead angle.
2. as described in claim 1 for the Snakelike mechanical arm of shield cutter detection, it is characterised in that：Described first swings
Joint includes the first male joint, the first female joint, the first hinge pin seat and the first oscillating oil cylinder, first male joint and the first mother
The a side in joint is connected by first hinge pin seat, and another side is connected by first oscillating oil cylinder, passes through first
The swing in first joint is realized in flexible and the first hinge pin seat the rotation of oscillating oil cylinder；
Second swinging joint includes the second male joint, the second female joint, the second hinge pin seat and the second oscillating oil cylinder, described
Second male joint is connected with a side of the second female joint by second hinge pin seat, and another side is swung by described second
Oil cylinder connects, and the swing of the second joint is realized by flexible and the second hinge pin seat the rotation of the second oscillating oil cylinder.
3. as claimed in claim 2 for the Snakelike mechanical arm of shield cutter detection, it is characterised in that：The rotary system
Including pivoting support, pinion gear and driving motor, the pivoting support includes outer ring and inner ring, which is embedded at the outer ring
Among and rotate in the outer ring, the outer ring is fixedly connected with second male joint, the inner ring and described the
One female joint is fixedly connected, and the inside of the inner ring is equipped with internal gear, and the driving motor is fixedly connected on second male joint
On, the pinion gear is fixed on the output shaft of the driving motor and is engaged with the internal gear of the inner ring；
The driving motor drives the pinion rotation, which is driven by engaging the internal gear of the inner ring outside described
Circle and the second male joint are rotated around its axis, and opposite rotary motion is formed, and then described in realization with first female joint
The rotary motion of Snakelike mechanical arm.
4. as claimed in claim 3 for the Snakelike mechanical arm of shield cutter detection, it is characterised in that：The pinion gear and
Driving motor is provided with two groups, respectively about being centrosymmetrically arranged for the pivoting support.
5. as claimed in claim 2 for the Snakelike mechanical arm of shield cutter detection, it is characterised in that：First public relations
Section, the first female joint, the second male joint and the second female joint are cylindrical shape, the two of first hinge pin seat and the first oscillating oil cylinder
End is separately fixed on the inner wall of first male joint and the first female joint, second hinge pin seat and the second oscillating oil cylinder
Both ends are separately fixed on the inner wall of second male joint and the second female joint.
6. as described in claim 1 for the Snakelike mechanical arm of shield cutter detection, it is characterised in that：The snakelike machinery
Arm includes the structure that multigroup mechanical arm system and rotary system are connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810226784.8A CN108161917B (en) | 2018-03-19 | 2018-03-19 | A snakelike arm for shield constructs blade disc and detects |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810226784.8A CN108161917B (en) | 2018-03-19 | 2018-03-19 | A snakelike arm for shield constructs blade disc and detects |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108161917A true CN108161917A (en) | 2018-06-15 |
| CN108161917B CN108161917B (en) | 2020-12-01 |
Family
ID=62511222
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810226784.8A Active CN108161917B (en) | 2018-03-19 | 2018-03-19 | A snakelike arm for shield constructs blade disc and detects |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108161917B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109262602A (en) * | 2018-09-29 | 2019-01-25 | 中国矿业大学 | A kind of magnetic fluid mechanical arm |
| CN112894782A (en) * | 2021-02-23 | 2021-06-04 | 中铁工程装备集团有限公司 | Snakelike arm connecting structure and snakelike arm robot controlled by series-parallel connection coupling |
| CN113319887A (en) * | 2021-06-15 | 2021-08-31 | 郑州科技学院 | Adjustable numerical control mechanical arm joint |
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| US20040140786A1 (en) * | 2001-03-30 | 2004-07-22 | Johann Borenstein | Apparatus for obstacle traversion |
| DE102004058450A1 (en) * | 2004-12-03 | 2006-06-08 | Hartmut Friedrich | Movement device has powered axle arranged per serially parallel kinematic element whereby lower part of each element has guiding device firmly attached for linear thrust elements |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109262602A (en) * | 2018-09-29 | 2019-01-25 | 中国矿业大学 | A kind of magnetic fluid mechanical arm |
| CN112894782A (en) * | 2021-02-23 | 2021-06-04 | 中铁工程装备集团有限公司 | Snakelike arm connecting structure and snakelike arm robot controlled by series-parallel connection coupling |
| CN113319887A (en) * | 2021-06-15 | 2021-08-31 | 郑州科技学院 | Adjustable numerical control mechanical arm joint |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108161917B (en) | 2020-12-01 |
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