CN108393864B

CN108393864B - TBM tool changing robot body structure

Info

Publication number: CN108393864B
Application number: CN201810066730.XA
Authority: CN
Inventors: 霍军周; 孟智超; 鲍有能; 黄晓琦
Original assignee: Dalian University of Technology
Current assignee: Dalian University of Technology
Priority date: 2018-01-24
Filing date: 2018-01-24
Publication date: 2021-04-20
Anticipated expiration: 2038-01-24
Also published as: CN108393864A

Abstract

The invention provides a TBM tool-changing robot body structure, and belongs to the technical field of robot structure design. Aiming at the structural characteristics of the existing TBM host, the invention designs a robot body structural form which can enable an end effector to enter a cutter head from a TBM cutter conveying hole, the robot overcomes the difficulty of operation in a combined space in which a horizontal narrow space is suddenly changed into a vertical narrow space, and provides a design method of the mechanical arm key size of the body structure and the motion form of the robot, thereby realizing the overall design and path planning of the tool-changing robot body structure.

Description

TBM tool changing robot body structure

Technical Field

The invention relates to a TBM cutter robot body structure, and belongs to the technical field of robot structure design.

Background

With the development of economy in China, in recent years, a full-face rock Tunnel Boring Machine (TBM) is widely applied to tunnel construction of hydraulic engineering, railway traffic, subway engineering, oil and gas pipelines, national defense and the like in China.

According to the working principle of the TBM, the cutter can inevitably abrade the cutter when cutting a rock body. And the geometric characteristics of the cutter can be directly changed due to abrasion, the cutting capability of the cutter is weakened, and the tunneling energy consumption is increased. If the cutter fails due to excessive wear and cannot be replaced in time, the cutter head is worn, and the construction progress and quality are seriously affected. In addition, the cutter bears strong impact and strong vibration, and faults such as cutter ring fracture and the like can also occur on the cutter. According to statistics, the tool consumption cost accounts for about one fourth to one fifth of the construction cost, when the geological conditions are not good, the tool consumption cost is about one third, and meanwhile, the time consumed by manual tool changing at present also accounts for about one third of the construction time of the project. Therefore, improving the tool changing efficiency is one of the ways to reduce the engineering cost. More importantly, the method is limited by the complicated and severe construction environment of the underground of the TBM, and huge potential safety hazards such as surrounding rock collapse, falling, high-pressure hazard of a slurry shield and the like exist when the TBM cutter is manually replaced. Based on the above situation, a special device replacing manual tool changing is developed, and the method has important significance for improving the tool changing efficiency of the TBM and reducing the security threat of the environment and the device to constructors.

Aiming at the structural characteristics of the existing TBM main machine, the invention designs a robot body structural form which can enable an end effector to enter a cutter head from a TBM cutter conveying hole, the robot overcomes the difficulty of operation in a combined space in which a horizontal narrow space is suddenly changed into a vertical narrow space, and provides a design method of the key size of a mechanical arm of the body structure and a motion form of the robot, thereby realizing the overall design and path planning of the robot body structure.

Disclosure of Invention

The invention aims to provide a structural scheme for replacing manual tool changing equipment, and the structural form and the motion scheme of the mechanical arm are utilized to realize the purpose of conveying a tool needing to be replaced by a TBM from a vertical narrow space to a tool conveying hole positioned in a horizontal narrow space. Therefore, the safety risk of manual tool changing is reduced, the tool changing efficiency is improved, and the working time cost of engineering is reduced.

The technical scheme adopted by the invention is as follows:

a TBM cutter robot structure comprises a supporting beam 1, a sliding seat 2, an upper steering seat 3, a lower steering seat 3, a left steering seat 4, a right steering seat 4, a telescopic arm 5 and an end effector standard mounting seat 6;

the supporting beam 1 is used for bearing the weight of a robot body, an end effector and an external load, the sliding seat 2 is a decisive component for determining the working position of the robot and is connected with the supporting beam 1 through a moving pair, and the accuracy and the moving path of the moving pair directly determine whether the tail end of the robot can enter a cutter head;

the telescopic arm 5 is a receiver of the movement of the end effector, is connected with the left and right steering seats 4 through a sliding pair, and the left and right steering seats 4 are used for adjusting the rotation angle of the telescopic arm on the cutter disc surface so as to adapt to the randomness of the cutter disc stalling; the standard mounting seat 6 of the end effector is arranged on the telescopic arm 5 through a sliding pair and is used for mounting the end effector of the detachable cutter;

the upper and lower steering seats 3 are respectively connected with the sliding seat 2 and the left and right steering seats 4 through revolute pairs and used for adjusting the upper and lower directions of the telescopic arm 5, ensuring that the telescopic arm 5 enters the cutter head in a proper posture, and adjusting the telescopic arm 5 to be in a vertical direction under the condition of avoiding the cutter head.

The length L1 of the supporting beam 1 is the stroke of the sliding seat 2, and L1 is larger than the distance H from the knife conveying hole to the cutter head surface for finishing knife conveying, namely

L1＝H+Δh1

Wherein, Delta h1 is 500-700 mm.

The length L5 of the telescopic arm 5 determines whether the telescopic arm can enter the inside of the cutter head, and in order to reach the positions of all cutters on the radius, L5 should satisfy the following conditions:

wherein, Δ h2 is 100-300 mm, and D1 is the diameter of the inner space of the cutter head;

to enable the telescopic boom 5 to enter the cutterhead, L5 also satisfies:

wherein the content of the first and second substances,

the maximum diameter of the enveloping circle of the orbit at the lower end of the telescopic arm,

the maximum enveloping circle diameter of the upper end track of the telescopic arm;

the telescopic arm 5 can be designed into a multi-stage telescopic movable structure.

The invention has the beneficial effects that: the characteristics of a horizontal long and narrow space at the front section of the main beam are adapted, and the length directions of the shutdown state of the robot and the transition state of the cutter removal and the cutter transportation are along the horizontal direction; meanwhile, the working space of the end effector should be vertical when the robot changes tools. Therefore, the invention designs a TBM tool-changing robot body structure scheme by combining the advantages of the revolute pair and the sliding pair, and the core of the TBM tool-changing robot body structure scheme is that the telescopic arm can keep different postures at different positions to adapt to external boundary constraint, so that the tail end of the robot can enter the cutter head skillfully.

The tool changing robot body structure is composed of six components, five joints are formed in total, the tool changing robot belongs to the category of a five-degree-of-freedom robot, tool changing actions are not considered in the body structure, the tool changing robot body structure is only responsible for reaching functions of preset positions, and actions of dismounting TBM tools are responsible for corresponding end effectors. Because the revolution speed directions of the hobs of the TBM are all vertical to the radius direction, the end effector does not need to rotate, so the degree of freedom of the robot body can be reduced, namely, the required function can be completed by five degrees of freedom.

Drawings

Fig. 1 is an overall structure of a TBM tool-changing robot.

Fig. 2 is a schematic representation of a robot work space.

Fig. 3 is a state diagram of the body before the robot enters the cutter head.

Fig. 4 is a state diagram of the body when the robot detaches the cutter.

Fig. 5(a), 5(b) and 5(c) are state diagrams of the main body adjusted at different angles when the robot detaches the cutter.

Fig. 6 is a state view of the body of the robot tool conveyed to the tool carrying hole.

In the figure: 1, supporting a beam; 2, a sliding seat; 3, a vertical steering seat; 4 left and right steering seats; 5, a telescopic arm;

6, standard mounting base of end effector; d1 cutter head inner space diameter; d2 main bearing inner diameter;

d3 main beam height; length of the L1 robot support beam; length of the L5 robot telescopic arm;

t thickness of inner space of cutter head; an upper limit point of p1 girder height; p2 girder height lower limit point;

the maximum diameter of the enveloping circle of the track at the lower end of the telescopic arm;

the area formed by the two-dot chain line is a constraint space inside the TBM main machine received by the robot.

Detailed Description

The following detailed description of the embodiments of the invention refers to the accompanying drawings and accompanying claims.

A tool changing robot body structure capable of entering a cutter head from a TBM main beam.

(1) When the robot does not work, the states of all parts of the robot are as shown in the attached figure 1 of the specification, and the telescopic arm 5 is in a horizontal position; (2) when the TBM stops, the robot enters a tool changing program, the slide seat 2 is linked with the upper and lower steering seats 3, the telescopic arm is adjusted to the state shown in the attached figure 3 in the specification, the lower end of the telescopic arm is close to a lower limit point p2 of the height of the main beam, then the telescopic arm is inserted into the cutter head by keeping the posture, and the telescopic arm enters a maximum envelope circle of a track

And then the telescopic arm is rotated clockwise by taking p2 as a circle center, so that the telescopic arm enters the working state of the robot shown in the attached drawing 4, and the end effector can replace the tool at the moment. If the cutter is not in the vertical direction, the left and right steering seats 4 are actuated to adjust the steering of the telescopic arm on the cutter head surface, as shown in the attached figure 5 in the specification; (3) and after the cutter is detached, entering a cutter conveying program, wherein the cutter conveying program is the reverse process of the telescopic arm entering the cutter head, adjusting the telescopic arm to the state shown in the figure 6 in the specification, and actuating the end effector to convey the cutter out of the cutter conveying hole.

The steps (1), (2) and (3) are a set of procedures for changing the tools, and if other tools need to be changed, the steps are repeated.

Claims

1. A TBM tool-changing robot body structure is characterized by comprising a supporting beam (1), a sliding seat (2), an upper steering seat, a lower steering seat (3), a left steering seat, a right steering seat (4), a telescopic arm (5) and an end effector standard mounting seat (6);

the supporting beam (1) is used for bearing the weight of other parts, an end effector and an external load of the robot body, the sliding seat (2) is a decisive part for determining the working position of the robot and is connected with the supporting beam (1) through a moving pair, and the accuracy and the moving path of the moving pair directly determine whether the tail end of the robot can enter the cutter head or not;

the telescopic arm (5) is a receiver of the movement of the end effector, is connected with the left and right steering seats (4) through a sliding pair, and the left and right steering seats (4) are used for adjusting the rotation angle of the telescopic arm on the cutter disc surface so as to adapt to the randomness of the cutter disc stalling; the standard mounting seat (6) of the end effector is arranged on the telescopic arm (5) through a sliding pair and is used for mounting the end effector of the detachable cutter;

the upper and lower steering seats (3) are respectively connected with the sliding seat (2) and the left and right steering seats (4) through revolute pairs and used for adjusting the upper and lower directions of the telescopic arm (5), ensuring that the telescopic arm (5) enters the cutter head in a proper posture, and adjusting the telescopic arm (5) to be in a vertical direction under the condition of avoiding the cutter head.

2. The TBM tool-changing robot body structure according to claim 1, wherein the length L1 of the supporting beam (1) is the stroke of the sliding seat (2), and L1 is larger than the distance H from a tool carrying hole to a tool disc surface for carrying out tool carrying, namely

L1＝H+Δh1

Wherein, Delta h1 is 500-700 mm.

3. The TBM tool-changing robot body structure according to claim 1 or 2, characterized in that the length L5 of the telescopic arm (5) determines whether the telescopic arm can enter the inside of a cutter head, and L5 satisfies the following conditions for reaching the positions of all cutters on the radius:

in order to enable the telescopic arm (5) to enter the cutter head, L5 also satisfies:

wherein the content of the first and second substances,

the diameter of the maximum enveloping circle of the upper end track of the telescopic arm.

4. The TBM tool-changing robot body structure according to claim 3, characterized in that the telescopic arm (5) is designed as a multi-stage telescopic movable structure.