CN110587575A - Efficient tool changing robot for shield machine - Google Patents

Efficient tool changing robot for shield machine Download PDF

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Publication number
CN110587575A
CN110587575A CN201911055387.XA CN201911055387A CN110587575A CN 110587575 A CN110587575 A CN 110587575A CN 201911055387 A CN201911055387 A CN 201911055387A CN 110587575 A CN110587575 A CN 110587575A
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CN
China
Prior art keywords
changing robot
telescopic
arm
machine according
box body
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Granted
Application number
CN201911055387.XA
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Chinese (zh)
Other versions
CN110587575B (en
Inventor
贾连辉
姜礼杰
杜孟超
赵梦媛
文勇亮
钱豪
张树祺
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China Railway Engineering Equipment Group Co Ltd CREG
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China Railway Engineering Equipment Group Co Ltd CREG
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Priority to CN201911055387.XA priority Critical patent/CN110587575B/en
Publication of CN110587575A publication Critical patent/CN110587575A/en
Application granted granted Critical
Publication of CN110587575B publication Critical patent/CN110587575B/en
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Classifications

    • 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
    • B23P19/04—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 for assembling or disassembling parts
    • 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
    • B23P19/04—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 for assembling or disassembling parts
    • B23P19/06—Screw or nut setting or loosening machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • 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
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
    • E21D9/06—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining
    • E21D9/08—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining with additional boring or cutting means other than the conventional cutting edge of the shield
    • E21D9/087—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining with additional boring or cutting means other than the conventional cutting edge of the shield with a rotary drilling-head cutting simultaneously the whole cross-section, i.e. full-face machines
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Mining & Mineral Resources (AREA)
  • Multimedia (AREA)
  • Environmental & Geological Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Geology (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses a high-efficiency tool changing robot for a shield machine, which solves the problem of low working efficiency of the shield tool changing robot in the prior art. The tool changing robot comprises a tool changing robot body, wherein a tail end executing mechanism is arranged at the front end of the tool changing robot body, the tool changing robot body is arranged on a sliding track in a sliding mode and comprises a movable large arm and a telescopic small arm, the telescopic small arm is connected with the movable large arm through a first swing mechanism, and the tail end executing mechanism is connected with the telescopic small arm through a second swing mechanism; the tail end executing mechanism comprises a movement adjusting mechanism, and a clamping jaw assembly, an image collecting mechanism, a bolt tightening mechanism and a high-pressure cleaning mechanism are arranged on the movement adjusting mechanism. The invention adopts a double-telescopic-arm structure, the movable large arm and the telescopic small arm form a complete execution structure in cooperation with the tail end execution mechanism, the installation and the disassembly of the hob meet the requirements of replacing the hob at different positions of the hob, and the high-precision quick disassembly and assembly of the hob are realized.

Description

Efficient tool changing robot for shield machine
Technical Field
The invention relates to the technical field of shield cutter changing simulation devices, in particular to a high-efficiency cutter changing robot for a shield machine.
Background
The cutter consumption is big, the change is frequent in the full-face entry driving machine work progress, and cutter detection and tool changing operating time account for tunnel construction cycle more than 10%, and current cutter detects and tool changing work mainly relies on manual work, and the operation potential safety hazard under construction environment such as big buried depth, high water pressure is big, major incident such as casualties easily appears. According to statistics, nearly 70% of tunnel construction safety accidents in China are directly related to manual tool changing operation, and international industrial problems of 'difficult detection and tool changing' become bottlenecks which restrict tunnel construction safety and efficiency under complex geological conditions.
However, in the current stage, the research on the cutter changing robot is less, and the whole shield machine is huge in size and high in cost, so that the research on the cutter changing robot needs to fully consider the matching degree with the whole shield machine and the accurate positioning of cutter changing, the cutter changing efficiency and the cutter changing safety, and therefore, the design of the cutter changing robot for the shield machine, which is high in matching degree with the existing shield machine and high in cutter changing efficiency, is necessary.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides an efficient tool changing robot for a shield machine, which solves the problem of low working efficiency of the shield tool changing robot in the prior art.
The technical scheme of the invention is realized as follows: a high-efficiency tool changing robot for a shield machine comprises a tool changing robot body, wherein a tail end executing mechanism is arranged at the front end of the tool changing robot body, the tool changing robot body is arranged on a sliding track in a sliding mode and comprises a movable large arm and a telescopic small arm, the telescopic small arm is connected with the movable large arm through a first rotating mechanism, and the tail end executing mechanism is connected with the telescopic small arm through a second rotating mechanism; the tail end executing mechanism comprises a movement adjusting mechanism, and a clamping jaw assembly, an image collecting mechanism, a bolt tightening mechanism and a high-pressure cleaning mechanism are arranged on the movement adjusting mechanism.
The movable large arm comprises a first supporting arm, a first telescopic arm is arranged in the first supporting arm in a sliding mode, the first telescopic arm slides along the first supporting arm through a telescopic driving structure, and a first rotating mechanism is arranged at the front end of the first telescopic arm.
The telescopic small arm comprises a second supporting arm, a second telescopic arm is arranged in the second supporting arm in a sliding mode, the second telescopic arm slides along the second supporting arm through a telescopic driving structure, and the second supporting arm is connected with the first telescopic arm through a first swing mechanism.
The first rotating mechanism comprises a radial surface rotating part and an axial surface rotating disc, one end of the radial surface rotating part is connected with the first supporting arm, the other end of the radial surface rotating part is connected with the axial surface rotating disc, and the axial surface rotating disc is connected with the second supporting arm.
The tail end executing mechanism comprises a movement adjusting mechanism, a clamping jaw assembly, an image collecting mechanism, a bolt tightening mechanism and a high-pressure cleaning mechanism are arranged on the movement adjusting mechanism, and the clamping jaw assembly, the image collecting mechanism, the bolt tightening mechanism and the high-pressure cleaning mechanism are located on the same plate surface of the movement adjusting mechanism.
The movement adjusting mechanism comprises a cross-shaped movement seat and a connecting box body, the connecting box body is connected with the cross-shaped movement seat through a first rotating mechanism, and the clamping jaw assembly is arranged on the connecting box body and is in sliding connection with the connecting box body through a sliding driving mechanism.
The cross motion seat comprises a lower plate seat, a middle plate seat and an upper plate seat, the lower plate seat is connected with the middle plate seat through a longitudinal sliding mechanism, and the middle plate seat is connected with the upper plate seat through a transverse sliding mechanism.
The first rotating mechanism comprises a universal joint and two rotating oil cylinders, and the two rotating oil cylinders are positioned on the outer peripheral side of the universal joint; the telescopic directions of the two rotary oil cylinders are vertical, one end of each rotary oil cylinder is hinged with the upper plate seat, and the other end of each rotary oil cylinder is hinged with the connecting box body.
The clamping jaw assembly comprises a fixed jaw and a movable jaw, the movable jaw is hinged to the fixed jaw and can be opened and closed through a clamping oil cylinder, and the top of the fixed jaw is connected with a sliding driving mechanism.
The sliding driving mechanism comprises a guide rail, the guide rail is fixed in the connecting box body, a sliding block is arranged on the guide rail in a sliding mode, the sliding block is fixedly connected with the fixed claw, a moving oil cylinder is hinged to the sliding block, and the moving oil cylinder pushes the sliding block to move along the guide rail.
The fixed claw and the movable claw are both U-shaped clamping claws with radian, and the movable claw is connected with the fixed claw through a pin shaft; the clamping end of the fixed claw and the clamping end of the movable claw are in a wrapping state, and clamping grooves are formed in the inner wall of the clamping end of the fixed claw and the inner wall of the clamping end of the movable claw.
The image acquisition mechanism comprises a camera and a multi-degree-of-freedom adjusting platform, and the multi-degree-of-freedom adjusting platform is positioned in the connecting box body and extends upwards out of the connecting box body; the camera is arranged on the upper portion of the multi-freedom-degree adjusting platform through the second rotating mechanism, the multi-freedom-degree adjusting platform comprises a fixed platform and a movable platform, a swinging lifting mechanism is arranged between the fixed platform and the movable platform, and the swinging lifting mechanism drives the movable platform to swing and lift.
The swing lifting mechanism comprises a telescopic piece and a central column, the central column is fixedly and vertically arranged at the lower part of the movable platform and is positioned at the central position of the movable platform, a shaft sleeve is fixedly arranged on the fixed platform, and the lower part of the central column is positioned in the shaft sleeve; the both ends of extensible member are articulated with fixed platform and movable platform respectively, and the extensible member is located the periphery of center post.
The second rotary mechanism comprises a gear disc and a small motor, the gear disc is rotatably arranged on the fixed platform, the small motor is fixedly arranged on the fixed platform, the small motor drives the gear disc to rotate, and the camera is installed on the gear disc.
The bolt tightening and loosening mechanism comprises a torque driving part, a torque wrench and a flexible end mechanism, the torque driving part is connected with the torque wrench through a connecting rod mechanism, the torque driving part, the connecting rod mechanism and the torque wrench are located in a connecting box body, the flexible end mechanism stretches out of the connecting box body, one end of the torque wrench is connected with the flexible end mechanism, and the torque driving part drives the flexible end mechanism to rotate through the connecting rod mechanism and the torque wrench.
The flexible tail end mechanism comprises an outer sleeve, a middle sleeve and a central sleeve, the middle sleeve is sleeved inside the outer sleeve and connected with the outer sleeve through a first bolt, the central sleeve is sleeved inside the middle sleeve and connected with the middle sleeve through a second bolt, and a nut-shaped clamping groove is formed in the central sleeve.
The outer sleeve, the middle sleeve and the central sleeve are coaxially arranged, and the outer sleeve, the middle sleeve and the central sleeve are provided with radial springs; the top of outer sleeve is equipped with the speed reducer, and the output shaft and the outer sleeve fixed connection of speed reducer, the input shaft and the torque wrench fixed connection of speed reducer.
The connecting rod mechanism comprises a connecting plate and two connecting rods, the connecting plate is fixedly connected with the torque driving piece, one end of each connecting rod is hinged with the connecting plate, and the other end of each connecting rod is provided with a cross-shaped connecting seat; the connecting rod is fixedly connected with the torque wrench through the cross connecting seat, the outer end part of the cross connecting seat is provided with a pre-positioning push rod, and the pre-positioning push rod corresponds to a lug arranged in the connecting box body.
The high-pressure cleaning mechanism comprises a nozzle joint and an interface pipeline, the nozzle joint is sleeved in the interface pipeline and upwards penetrates through the connecting box body, a high-pressure nozzle is arranged at the upper part of the nozzle joint, and the interface pipeline is fixed in the connecting box body and is connected with an external water source.
The spray nozzle is characterized in that roller wheel supports are arranged on two sides of the spray nozzle connector and fixedly connected with the connecting box body, roller wheels are arranged on the roller wheel supports, wheel shafts of the roller wheels are connected with a spray nozzle motor fixed on the connecting box body, and the roller wheels are in friction contact with the spray nozzle connector and can drive the spray nozzle connector to move up and down through rotation of the roller wheels.
The invention adopts a double-telescopic-arm structure, the movable large arm and the telescopic small arm form a complete execution structure in cooperation with the tail end execution mechanism, the installation and the disassembly of the hob meet the requirements of replacing the hob at different positions of the hob, and the high-precision quick disassembly and assembly of the hob are realized. The motion adjusting mechanism of the tail end executing mechanism can drive the clamping jaw to translate and rotate, and the position and the angle of the clamping jaw are adjusted to adapt to the dismounting and the replacement of cutters at different positions; the bolt tightening and loosening mechanism can realize quick positioning and quick clamping and matching of bolts or nuts, safe and efficient operation is realized, and the working efficiency is improved. The image acquisition mechanism adopts the cooperation of the multi-degree-of-freedom adjusting platform and the rotating mechanism, is convenient for quick focusing, superposes the movement of the tool changing robot tail end actuating mechanism, meets the requirement of multi-degree-of-freedom adjusting camera shooting position, and increases the range of image acquisition. The high-pressure cleaning mechanism can realize the up-and-down movement of the nozzle joint in the interface pipeline so as to be suitable for the cleaning of cutters at different positions. The tool changing device is ingenious in design, high in structural integration level and flexible in movement, can clamp and hoist the tool, tighten and loosen the bolt and clean the tool at high pressure, can acquire images and monitor the images in real time, improves the tool changing efficiency and the operation safety coefficient, and has high popularization value.
Drawings
In order to illustrate the embodiments of the invention more clearly, the drawings that are needed in the description of the embodiments will be briefly described below, it being apparent that the drawings in the following description are only some embodiments of the invention, and that other drawings may be derived from those drawings by a person skilled in the art without inventive effort.
Fig. 1 is a schematic view of the overall structure of the present invention.
FIG. 2 is a schematic view of the tool-changing robot body structure
FIG. 3 is a schematic structural diagram of an end effector mechanism according to the present invention.
Fig. 4 is a schematic structural diagram of the movement adjusting mechanism of the present invention.
FIG. 5 is a schematic view of the cross motion base of the present invention.
Figure 6 is a schematic view of the jaw assembly of the present invention.
Fig. 7 is a schematic structural diagram of an image capturing mechanism according to the present invention.
FIG. 8 is a schematic structural diagram of the multi-degree-of-freedom adjustment platform of the present invention.
Fig. 9 is a schematic structural view of the bolt tightening mechanism of the present invention.
Fig. 10 is a schematic view of the internal structure of the flexible tip mechanism of the present invention.
FIG. 11 is a schematic cross-sectional view of the connection box of the present invention.
FIG. 12 is a schematic view of the high pressure cleaning mechanism of the present invention.
FIG. 13 is a schematic cross-sectional view of a high pressure cleaning mechanism of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.
Embodiment 1, as shown in fig. 1, a shield constructs machine high-efficient tool changing robot, including tool changing robot body 2, the front end of tool changing robot body 2 is equipped with end actuating mechanism 1, and tool changing robot body drives end actuating mechanism and presss from both sides and get whether to hobbing cutter 8, realizes the shield and constructs the tool changing simulation. In the tool changing process, the execution action of the robot is controlled by a background control system. The tool-changing robot body 201 is arranged on the sliding rail 10 in a sliding mode and can move back and forth relative to the simulation test bed, and the whole robot body can move forward or backward relative to a cutter head. The tool-changing robot body 2 comprises a movable large arm 201 and a telescopic small arm 202, the movable large arm 201 and the telescopic small arm 202 are similar to arms of a human body, and an end executing mechanism is similar to hands of the human body. The movable large arm 201 and the telescopic small arm 202 form a complete execution structure in cooperation with the end execution mechanism, and the hob cutter is mounted and dismounted. The telescopic small arm 202 is connected with the movable large arm 201 through the first swing mechanism 203 to realize the rotary connection between the telescopic small arm 202 and the movable large arm 201, which is similar to the elbow joint of a human body, and the terminal actuating mechanism 1 is connected with the telescopic small arm 202 through the second swing mechanism 204 to realize the rotation of the terminal actuating mechanism relative to the telescopic small arm, which is similar to the wrist joint of the human body. This robot adopts two telescopic arm structures, satisfies the change to the hobbing cutter of cutter head different positions, and terminal actuating mechanism can flexible rotation of relative telescopic arm, realizes the high accuracy quick assembly disassembly to the hobbing cutter. The tail end executing mechanism 1 comprises a movement adjusting mechanism 1-5, and a clamping jaw assembly 1-1, an image collecting mechanism 1-2, a bolt tightening mechanism 1-4 and a high-pressure cleaning mechanism 1-3 are arranged on the movement adjusting mechanism 1-5. The clamping jaw assembly is used for clamping and hoisting the cutter; the image acquisition mechanism is used for acquiring images when the tail end execution mechanism executes actions, and visual detection is facilitated. The bolt tightening and loosening mechanism is used for screwing a bolt for mounting a cutter; the high-pressure cleaning mechanism is used for cleaning the cutter to be replaced. The clamping jaw assembly, the image acquisition mechanism, the bolt tightening mechanism and the high-pressure cleaning mechanism are located on the same plate surface of the movement adjusting mechanism, and the five parts are matched for use, so that efficient and safe replacement of the cutter is realized.
Further, as shown in fig. 2, the movable large arm 201 includes a first support arm 201-1, the first support arm 201-1 is a main support member of the whole device, a first telescopic arm 201-2 is slidably disposed in the first support arm 201-1, the first telescopic arm 201-2 slides along the first support arm 201-1 through a telescopic driving structure, the telescopic driving structure may employ a telescopic cylinder, and the first telescopic arm can slide relative to the first support arm under the action of the telescopic cylinder, so as to adjust the overall length of the movable large arm, so as to adapt to the replacement of hobs at different positions. The first rotating mechanism 203 is arranged at the front end of the first telescopic arm 201-2 and is used for being rotatably connected with the second supporting arm of the telescopic small arm. The telescopic small arm 202 comprises a second supporting arm 201-5, a second telescopic arm 201-6 is arranged in the second supporting arm 201-5 in a sliding mode, the second telescopic arm 201-6 slides along the second supporting arm 201-5 through a telescopic driving structure, the telescopic driving structure can adopt a telescopic oil cylinder, the second telescopic arm can slide relative to the second supporting arm under the action of the telescopic oil cylinder, and the whole length of the telescopic small arm can be adjusted to adapt to the replacement of hobs at different positions. The second support arm 201-5 is connected to the first telescopic arm 201-2 via a first swing mechanism 203. The first rotating mechanism and the second rotating mechanism adopt the existing rotating parts to realize the rotating connection of the corresponding telescopic arms and the supporting arms, so that the action of the executing tail end is more flexible.
Furthermore, the first rotating mechanism 203 comprises a radial surface rotating part 203-1 and an axial surface rotating disc 203-2, the radial surface rotating part 203-1 can rotate in the radial surface of the telescopic arm, the axial surface rotating disc 203-2 can rotate in the axial surface of the telescopic arm, one end of the radial surface rotating part 203-1 is connected with the first supporting arm 201-1, the other end of the radial surface rotating part is connected with the axial surface rotating disc 203-2, the axial surface rotating disc 203-2 is connected with the second supporting arm 201-5, and the radial surface rotating part 203-1 and the axial surface rotating disc 203-2 are matched for use, so that the large telescopic arm relatively moves, the large arm rotates in the radial surface and rotates in the axial surface, and further the position and the angle of the tail end executing mechanism are adjusted.
Embodiment 2, as shown in fig. 3 and 4, a high-efficiency tool changing robot for a shield machine, where the motion adjusting mechanism 1-5 includes a cross motion seat 501 and a connection box 502, the connection box 502 is connected to the cross motion seat 501 through a first rotating mechanism 503, that is, the connection box can rotate relative to the cross motion seat under the action of the rotating mechanism, and the cross motion seat can drive a clamping jaw assembly to move transversely and longitudinally, so as to achieve the first adjustment of the position of the clamping jaw assembly. The clamping jaw assembly 1 is arranged on the connecting box body 502 and is connected with the connecting box body 502 in a sliding mode through a sliding driving mechanism. The clamping jaw component performs sliding translation under the action of the sliding driving mechanism to realize secondary adjustment of the position of the clamping jaw component, and the clamping jaw is moved and adjusted on the cross-shaped moving seat, the rotating mechanism and the sliding driving mechanism to adapt to the dismounting and replacing of cutters at different positions.
Further, as shown in fig. 5, the cross motion seat 501 includes a lower plate seat 501-1, a middle plate seat 501-2 and an upper plate seat 501-3, the lower plate seat, the middle plate seat and the upper plate seat are designed to be stacked in parallel, the lower plate seat 501-1 is connected with the middle plate seat 501-2 through a longitudinal sliding mechanism to realize longitudinal movement of the cross motion seat, and the middle plate seat 501-2 is connected with the upper plate seat 501-3 through a transverse sliding mechanism to realize transverse movement of the cross motion seat.
Namely, the longitudinal sliding mechanism comprises a longitudinal slide rail 501-4 arranged on the lower plate seat 501-1, a longitudinal oil cylinder 501-5 and a longitudinal slide groove 501-6 arranged at the bottom of the middle plate seat 501-2, the longitudinal slide groove 501-6 is matched with the longitudinal slide rail 501-4, one end of the longitudinal oil cylinder 501-5 is hinged with the lower plate seat 501-1, and the other end is hinged with the middle plate seat 501-2; under the action of the longitudinal oil cylinder, the middle plate seat is pushed to move along the longitudinal slide rail, so that the longitudinal movement of the middle plate seat relative to the lower plate seat is realized. The transverse sliding mechanism comprises a transverse sliding rail 501-7 arranged on the middle plate seat 501-2, a transverse oil cylinder 501-8 and a transverse sliding groove 501-9 arranged at the bottom of the upper plate seat 501-3, wherein the transverse sliding groove 501-9 is matched with the transverse sliding rail 501-7, one end of the transverse oil cylinder 501-8 is hinged with the middle plate seat 501-2, and the other end of the transverse oil cylinder 501-8 is hinged with the upper plate seat 501-3, namely, under the action of the transverse oil cylinder, the upper plate seat is pushed to move along the transverse sliding rail, and the transverse movement of the upper plate seat relative to the middle plate seat is realized. Under the effect of three plate seats, the whole clamping jaw assembly realizes transverse translation and longitudinal translation, changes its position for the change of different position departments cutter.
Further, the first rotating mechanism 503 includes a universal joint 3-1 and two rotating cylinders 3-2, and the two rotating cylinders 3-2 are located on the outer peripheral side of the universal joint 3-1; the two ends of the universal joint 301 are respectively connected with the upper plate seat and the connecting box body, so that the connecting box body rotates relative to the upper plate seat. The two rotary oil cylinders 3-2 are vertical in the stretching direction, one end of the rotary oil cylinder 3-2 is hinged with the upper plate seat 501-3, and the other end is hinged with the connecting box body 502. Two rotary oil cylinders are arranged in a spatial cross shape, and the connecting box bodies are driven to rotate in the same direction when the rotary oil cylinders stretch out and draw back, so that the connecting box bodies rotate around the universal joints, and the rotation of the clamping jaws is further realized.
The other structure is the same as that of embodiment 1
As shown in fig. 6, in embodiment 3, an end effector based on a tool changing robot, the jaw assembly 1-1 includes a fixed jaw 101 and a movable jaw 102, and the movable jaw 102 is hinged to the fixed jaw 101 and is opened and closed by a clamping cylinder 108, that is, under the telescopic action of the clamping cylinder, the movable jaw moves relative to the fixed jaw to grasp a tool. The top of the fixed jaw 101 is connected to a slide driving mechanism. The fixed claw and the movable claw can perform sliding translation under the action of the sliding driving mechanism, so that the position of the fixed claw and the movable claw can be changed, and the tool can be suitable for dismounting and replacing tools at different positions.
Further, the sliding driving mechanism comprises a guide rail 105, the guide rail 105 is fixed in the connecting box body 502, a sliding block 103 is arranged on the guide rail 105 in a sliding mode, the sliding block 103 is fixedly connected with the fixed claw 101, a moving oil cylinder 106 is hinged to the sliding block 103, the moving oil cylinder 106 pushes the sliding block 103 to move along the guide rail 105, and when the position of the clamping jaw assembly is adjusted, the moving oil cylinder is controlled to stretch and contract, the sliding block is pushed to drive the fixed clamping jaw to move along the guide rail, and the horizontal axial position of the clamping. The slider 103 is the concave type seat, and the concave type seat lock is on the dovetail groove of guide rail, keeps the stability of concave type seat, realizes simultaneously that the removal hydro-cylinder does not interfere the connection and steadily stretches out and draws back.
Further, the fixed jaw 101 and the movable jaw 102 are both U-shaped clamping jaws with radian, so that the clamping jaws have two clamping fingers which move synchronously and are respectively clamped on two sides of the tool, and stable and firm clamping is realized. The movable jaw 102 is connected with the fixed jaw 102 through a pin 104; the movable claw moves around the pin shaft relative to the fixed claw under the action of the clamping oil cylinder, so that the clamping claw is opened and closed. The clamping end of the fixed claw 101 and the clamping end of the movable claw 102 are in a wrapping state, and the inner walls of the clamping end of the fixed claw 101 and the clamping end of the movable claw 102 are provided with clamping grooves 109. The clamping groove is matched with the cutter shaft of the cutter, so that the cutter shaft can be firmly clamped by the clamping jaw, and the sliding in the clamping process is prevented. One end of the clamping oil cylinder is hinged in the groove on the fixed claw 101, and the other end of the clamping oil cylinder is hinged in the groove on the movable claw 102, so that the surface of the clamping oil cylinder is not beyond the outer surfaces of the fixed claw 101 and the movable claw 102, the clamping oil cylinder is prevented from interfering with other fixed parts in the clamping process, and the flexibility of the clamping jaw is improved.
The other structure is the same as embodiment 2.
As shown in fig. 7, in embodiment 4, an end effector based on a tool-changing robot, the image capturing mechanism 1-2 includes a camera 1-2-1 and a multi-degree-of-freedom adjusting platform 1-2-2, and the multi-degree-of-freedom adjusting platform 1-2-2 is located in a connecting box 502 and extends upward out of a surface of the connecting box 502 corresponding to a clamping jaw assembly. The camera 1-2-1 is arranged on the upper portion of the multi-freedom-degree adjusting platform 1-2-2 through the second rotating mechanism 1-2-3, the multi-freedom-degree adjusting platform can drive the camera to swing and lift, and the rotating mechanism drives the camera to rotate and is matched with the camera to adjust the position and the angle of the camera. The multi-degree-of-freedom adjusting platform 1-2-2 comprises a fixed platform 2-1 and a movable platform 2-2, a swing lifting mechanism is arranged between the fixed platform 2-1 and the movable platform 2-2, and the swing lifting mechanism drives the movable platform 2-2 to swing and lift. Under the action of the swing lifting mechanism, the movable platform can swing and lift obliquely, so that the camera on the upper part rotates, the rapid focusing is facilitated, the moving of the tool changing robot tail end actuating mechanism is limited, and the image acquisition range is enlarged.
Further, as shown in fig. 8, the swing lifting mechanism includes a plurality of telescopic members 2-3 and a central column 2-4, the central column 2-4 is fixedly and vertically disposed at the lower portion of the movable platform 2-2 and is located at the central position of the movable platform 2-2, the plurality of telescopic members 1-2-3 are disposed on the outer circumference of the movable platform, and the telescopic members 1-2-3 are telescopic oil cylinders or telescopic air cylinders. A shaft sleeve 2-5 is fixedly arranged on the fixed platform 2-1, and the lower part of the central column 2-4 is positioned in the shaft sleeve 2-5; the lower part of the central column 2-4 can slide and rotate up and down in the shaft sleeve and is used for supporting the movable platform in a follow-up manner. Two ends of the telescopic part 2-3 are respectively hinged with the fixed platform 2-1 and the movable platform 2-2, and the telescopic part 2-3 is positioned around the central column 2-4. The telescopic parts can be four, and the adjustment of the gradient and the inclination direction of the movable platform and the adjustment of the height can be realized through the extension and retraction of the telescopic parts at different positions, so that the camera on the movable platform can move more flexibly, and the rapid focusing and the image acquisition are facilitated.
Further, the second rotating mechanism 1-2-3 includes a gear plate 2031 and a small motor 2032, the gear plate 2031 is rotatably disposed on the fixed platform 2-1, that is, the gear plate is disposed on the supporting shaft of the movable platform through a bearing, so as to rotate the gear plate. The small motor 2032 is fixedly arranged on the fixed platform 2-1, the small motor 2031 drives the gear plate 2031 to rotate, and the camera 201 is arranged on the gear plate 2031. The small motor drives the gear disc to rotate through the gear, so that the circumferential telecontrol of the camera is realized, and the image acquisition range and the flexibility of image acquisition are increased.
The other structure is the same as in example 3.
As shown in fig. 9, in embodiment 5, an end effector based on a tool changing robot, the bolt tightening mechanism 1-4 includes a torque driving member 401, a torque wrench 404 and a flexible end effector 406, the torque driving member 401 is connected to the torque wrench 404 through a link mechanism 402, the torque driving member 401, the link mechanism 402 and the torque wrench 404 are located in a connecting box 502, one end of the torque driving member 401 is fixed on the connecting box, and the torque driving member can be a hydraulic cylinder. The flexible end mechanism 406 extends out of the connection box 502, one end of the torque wrench 404 is connected with the flexible end mechanism 406, and the torque driving member drives the torque wrench to rotate through the link mechanism. The torque driver 401 rotates the flexible end mechanism 406 through the linkage 402 and the torque wrench 404. When the tool is used, the flexible end mechanism clamps a bolt for installing a tool, then the torque driving part 401 drives the flexible end mechanism 406 to rotate through the connecting rod mechanism 402 and the torque wrench 404, corresponding bolts or nuts rotate, whether the bolts are screwed down or not is realized, and the tool is quickly replaced.
Further, as shown in fig. 10, the flexible tip mechanism 406 includes an outer sleeve 4061, a middle sleeve 4062 and a central sleeve 4063, the middle sleeve 4062 is sleeved inside the outer sleeve 4061 and connected to the outer sleeve 4061 through a first bolt 4066, and a slot is formed on a wall of the outer sleeve corresponding to the second bolt to facilitate installation of the second bolt. The central sleeve 4063 is sleeved inside the middle sleeve 4062 and connected with the middle sleeve 4062 through a second bolt 4064, and a nut-shaped slot 4067 is arranged on the central sleeve 4063. Under the action of a torque wrench, the middle sleeve can slightly rotate around the first bolt shaft in the outer sleeve, and meanwhile, the two sleeves are connected through a spring, so that the coaxiality of the two sleeves in a static state can be guaranteed; likewise, the same is true of the connection between the intermediate sleeve and the central sleeve.
Preferably, the outer sleeve 4061, the intermediate sleeve 4062 and the central sleeve 4063 are coaxially arranged, ensuring the coaxiality of the three sleeve installations. The outer and intermediate sleeves 4061, 4062 and 4063 are provided with radial springs 4065; the radial spring is radially arranged between the two adjacent sleeves, the coaxiality of the two sleeves in a static state can be guaranteed, and quick positioning and quick clamping and matching of the bolt or the nut are realized. The top of the outer sleeve 4061 is provided with a speed reducer 405, an output shaft of the speed reducer 405 is fixedly connected with the outer sleeve 4061, and an input shaft of the speed reducer 405 is fixedly connected with the torque wrench 404. The torque wrench is fixedly connected with the outer sleeve of the flexible tail end mechanism through the speed reducer, so that the small extension of the torque driving piece can generate large torque of the flexible tail end mechanism, and the working efficiency of screwing (or unscrewing) the bolt is improved.
Further, as shown in fig. 11, the link mechanism 402 includes a connection plate 4021 and two connection rods 4022, the connection plate 4021 is fixedly connected to the torque driving member 401, the two connection rods 4022 are symmetrically disposed on two sides of the connection plate 4021, and two flexible end mechanisms are correspondingly disposed, and respectively correspond to bolts or nuts on two sides of the cutter. One end of the connecting rod 4022 is hinged to the connecting plate 4021, and the other end is provided with a cross connecting seat 4023; the connecting rod 4022 is fixedly connected with the torque wrench 404 through a cross connecting seat 4023, a pre-positioning push rod 4024 is arranged at the outer end of the cross connecting seat 4023, and the pre-positioning push rod 4024 corresponds to a bump 4025 arranged in the connecting box 502. Connecting rod 4022 sets up perpendicularly with torque wrench 404 promptly, fixes respectively in the both sides of cross connecting seat, and pre-positioning push rod cooperates with the lug of being connected in the box 502 for location torque wrench pivoted angle, when torque driving piece moved extreme position, pre-positioning push rod and lug contact, and lug extrusion pre-positioning push rod can make the inside ratchet mechanism of torque wrench commutate, and contact each time can all make ratchet mechanism commutate once, realizes screwing up and loosening of nut.
The other structure is the same as in example 4.
As shown in fig. 12, in embodiment 6, a tool-changing robot-based end effector, the high-pressure cleaning mechanism 1-3 includes a nozzle adapter 302 and an interface pipe 303, the nozzle adapter 302 is sleeved in the interface pipe 303 and upwardly penetrates through a connection box 502, the nozzle adapter 302 is hermetically connected with the interface pipe 303, and the nozzle adapter 302 can move up and down with the interface pipe 303 to extend and retract the nozzle adapter 302. The upper part of the nozzle joint 302 is provided with a high-pressure nozzle 301, and an interface pipeline 303 is fixed inside the connecting box body 502 and is connected with an external water source. An external water source enters the nozzle joint through the interface pipeline and then is sprayed out through the high-pressure nozzle to clean the designated cutter, so that the cutter is convenient to disassemble.
Further, as shown in fig. 13, two sides of the nozzle joint 302 are provided with roller brackets 304, the roller brackets 304 are fixedly connected with the connecting box 502, the roller brackets 304 are provided with rollers 305, and the rollers 305 are rubber wheels or other rollers with certain friction. The axle of the roller 305 is connected with the nozzle motor 306 fixed on the connecting box 502, the roller 305 is in friction contact with the nozzle joint 302 and the rotation of the roller 305 can drive the nozzle joint 302 to move up and down. When the nozzle cleaning device is used, the nozzle motor drives the roller to rotate, and the roller and the nozzle joint generate friction to drive the nozzle joint to move up and down, so that the nozzle joint moves up and down in the interface pipeline, and the nozzle cleaning device is suitable for cleaning cutters at different positions.
The other structure is the same as in example 5.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims (19)

1. The utility model provides a shield constructs machine high-efficient tool changing robot, includes tool changing robot body (2), and the front end of tool changing robot body (2) is equipped with terminal actuating mechanism (1), and tool changing robot body (201) slide to set up on the track that slides, its characterized in that: the tool changing robot body (2) comprises a movable large arm (201) and a telescopic small arm (202), the telescopic small arm (202) is connected with the movable large arm (201) through a first swing mechanism (203), and a tail end executing mechanism (1) is connected with the telescopic small arm (202) through a second swing mechanism (204); the tail end executing mechanism (1) comprises a movement adjusting mechanism (1-5), and a clamping jaw assembly (1-1), an image collecting mechanism (1-2), a bolt tightening mechanism (1-4) and a high-pressure cleaning mechanism (1-3) are arranged on the movement adjusting mechanism (1-5).
2. The efficient tool-changing robot for the shield tunneling machine according to claim 1, characterized in that: the movable large arm (201) comprises a first supporting arm (201-1), a first telescopic arm (201-2) is arranged in the first supporting arm (201-1) in a sliding mode, the first telescopic arm (201-2) slides along the first supporting arm (201-1) through a telescopic driving structure, and a first rotating mechanism (203) is arranged at the front end of the first telescopic arm (201-2).
3. The efficient tool-changing robot for the shield tunneling machine according to claim 2, characterized in that: the telescopic small arm (202) comprises a second supporting arm (201-5), a second telescopic arm (201-6) is arranged in the second supporting arm (201-5) in a sliding mode, the second telescopic arm (201-6) slides along the second supporting arm (201-5) through a telescopic driving structure, and the second supporting arm (201-5) is connected with the first telescopic arm (201-2) through a first rotating mechanism (203).
4. The efficient tool-changing robot for the shield tunneling machine according to claim 3, characterized in that: the first rotating mechanism (203) comprises a radial surface rotating part (203-1) and an axial surface rotating disc (203-2), one end of the radial surface rotating part (203-1) is connected with the first supporting arm (201-1), the other end of the radial surface rotating part is connected with the axial surface rotating disc (203-2), and the axial surface rotating disc (203-2) is connected with the second supporting arm (201-5).
5. The efficient tool-changing robot for the shield tunneling machine according to any one of claims 1-4, characterized in that: the movement adjusting mechanism (1-5) comprises a cross-shaped movement seat (501) and a connecting box body (502), the connecting box body (502) is connected with the cross-shaped movement seat (501) through a first rotating mechanism (503), and the clamping jaw assembly (1) is arranged on the connecting box body (502) and is in sliding connection with the connecting box body (502) through a sliding driving mechanism.
6. The efficient tool-changing robot for the shield tunneling machine according to claim 5, characterized in that: the cross-shaped moving seat (501) comprises a lower plate seat (501-1), a middle plate seat (501-2) and an upper plate seat (501-3), the lower plate seat (501-1) is connected with the middle plate seat (501-2) through a longitudinal sliding mechanism, and the middle plate seat (501-2) is connected with the upper plate seat (501-3) through a transverse sliding mechanism.
7. The efficient tool-changing robot for the shield tunneling machine according to claim 5 or 6, characterized in that: the first rotating mechanism (503) comprises a universal joint (3-1) and two rotating oil cylinders (3-2), and the two rotating oil cylinders (3-2) are positioned on the outer peripheral side of the universal joint (3-1); the two rotary oil cylinders (3-2) are vertical in the stretching direction, one end of each rotary oil cylinder (3-2) is hinged with the upper plate seat (501-3), and the other end of each rotary oil cylinder is hinged with the connecting box body (502).
8. The efficient tool-changing robot for the shield tunneling machine according to claim 7, characterized in that: the clamping jaw assembly (1-1) comprises a fixed jaw (101) and a movable jaw (102), the movable jaw (102) is hinged to the fixed jaw (101) and can be opened and closed through a clamping oil cylinder (108), and the top of the fixed jaw (101) is connected with a sliding driving mechanism.
9. The efficient tool-changing robot for the shield tunneling machine according to claim 7, characterized in that: the sliding driving mechanism comprises a guide rail (105), the guide rail (105) is fixed in a connecting box body (502), a sliding block (103) is arranged on the guide rail (105) in a sliding mode, the sliding block (103) is fixedly connected with a fixed claw (101), a moving oil cylinder (106) is hinged to the sliding block (103), and the moving oil cylinder (106) pushes the sliding block (103) to move along the guide rail (105).
10. The efficient tool-changing robot for the shield tunneling machine according to claim 7, characterized in that: the fixed claw (101) and the movable claw (102) are both U-shaped clamping claws with radian, and the movable claw (102) is connected with the fixed claw (102) through a pin shaft (104); the clamping end of the fixed claw (101) and the clamping end of the movable claw (102) are in a wrapping state, and clamping grooves (109) are formed in the inner wall of the clamping end of the fixed claw (101) and the inner wall of the clamping end of the movable claw (102).
11. The efficient tool-changing robot for the shield tunneling machine according to claim 7, characterized in that: the image acquisition mechanism (1-2) comprises a camera (1-2-1) and a multi-degree-of-freedom adjusting platform (1-2-2), and the multi-degree-of-freedom adjusting platform (1-2-2) is positioned in the connecting box body (502) and extends upwards out of the connecting box body (502); the camera (1-2-1) is arranged on the upper portion of the multi-degree-of-freedom adjusting platform (1-2-2) through the second rotating mechanism (1-2-3), the multi-degree-of-freedom adjusting platform (1-2-2) comprises a fixed platform (2-1) and a movable platform (2-2), a swinging lifting mechanism is arranged between the fixed platform (2-1) and the movable platform (2-2), and the swinging lifting mechanism drives the movable platform (2-2) to swing and lift.
12. The efficient tool-changing robot for the shield tunneling machine according to claim 7, characterized in that: the swing lifting mechanism comprises a telescopic piece (2-3) and a central column (2-4), the central column (2-4) is fixedly and vertically arranged at the lower part of the movable platform (2-2) and is positioned at the central position of the movable platform (2-2), a shaft sleeve (2-5) is fixedly arranged on the fixed platform (2-1), and the lower part of the central column (2-4) is positioned in the shaft sleeve (2-5); two ends of the telescopic piece (2-3) are respectively hinged with the fixed platform (2-1) and the movable platform (2-2), and the telescopic piece (2-3) is positioned around the central column (2-4).
13. The efficient tool-changing robot for the shield tunneling machine according to claim 7, characterized in that: the second rotating mechanism (1-2-3) comprises a gear disc (2031) and a small motor (2032), the gear disc (2031) is rotatably arranged on the fixed platform (2-1), the small motor (2032) is fixedly arranged on the fixed platform (2-1), the small motor (2031) drives the gear disc (2031) to rotate, and the camera (1-2-1) is arranged on the gear disc (2031).
14. The efficient tool-changing robot for the shield tunneling machine according to claim 7, characterized in that: the bolt tightening mechanism (1-4) comprises a torque driving piece (401), a torque wrench (404) and a flexible end mechanism (406), the torque driving piece (401) is connected with the torque wrench (404) through a connecting rod mechanism (402), the torque driving piece (401), the connecting rod mechanism (402) and the torque wrench (404) are located in a connecting box body (502), the flexible end mechanism (406) stretches out of the connecting box body (502), one end of the torque wrench (404) is connected with the flexible end mechanism (406), and the torque driving piece (401) drives the flexible end mechanism (406) to rotate through the connecting rod mechanism (402) and the torque wrench (404).
15. The efficient tool-changing robot for the shield tunneling machine according to claim 7, characterized in that: flexible end mechanism (406) includes outer sleeve (4061), middle sleeve (4062) and center sleeve (4063), and middle sleeve (4062) cover is established and is connected with outer sleeve (4061) inside outer sleeve (4061) and through first bolt (4066), and center sleeve (4063) cover is established and be connected with middle sleeve (4062) inside middle sleeve (4062) and through second bolt (4064), is equipped with nut-shaped draw-in groove (4067) on center sleeve (4063).
16. The efficient tool-changing robot for the shield tunneling machine according to claim 7, characterized in that: the outer sleeve (4061), the middle sleeve (4062) and the central sleeve (4063) are coaxially arranged, and the outer sleeve (4061), the middle sleeve (4062) and the central sleeve (4063) are provided with radial springs (4065); the top of the outer sleeve (4061) is provided with a speed reducer (405), an output shaft of the speed reducer (405) is fixedly connected with the outer sleeve (4061), and an input shaft of the speed reducer (405) is fixedly connected with the torque wrench (404).
17. The efficient tool-changing robot for the shield tunneling machine according to claim 7, characterized in that: the connecting rod mechanism (402) comprises a connecting plate (4021) and two connecting rods (4022), the connecting plate (4021) is fixedly connected with the torque driving piece (401), one end of each connecting rod (4022) is hinged to the connecting plate (4021), and the other end of each connecting rod (4022) is provided with a cross connecting seat (4023); the connecting rod (4022) is fixedly connected with the torque wrench (404) through the cross connecting seat (4023), a pre-positioning push rod (4024) is arranged at the outer end of the cross connecting seat (4023), and the pre-positioning push rod (4024) corresponds to a convex block (4025) arranged in the connecting box body (502).
18. The efficient tool-changing robot for the shield tunneling machine according to claim 7, characterized in that: the high-pressure cleaning mechanism (1-3) comprises a nozzle connector (302) and an interface pipeline (303), the nozzle connector (302) is sleeved in the interface pipeline (303) and upwards penetrates through the connecting box body (502), a high-pressure nozzle (301) is arranged at the upper part of the nozzle connector (302), and the interface pipeline (303) is fixed inside the connecting box body (502) and is connected with an external water source.
19. The efficient tool-changing robot for the shield tunneling machine according to claim 7, characterized in that: the nozzle joint is characterized in that roller supports (304) are arranged on two sides of the nozzle joint (302), the roller supports (304) are fixedly connected with the connecting box body (502), rollers (305) are arranged on the roller supports (304), a wheel shaft of each roller (305) is connected with a nozzle motor (306) fixed on the connecting box body (502), and the rollers (305) are in friction contact with the nozzle joint (302) and can drive the nozzle joint (302) to move up and down through rotation of the rollers (305).
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CN114087240A (en) * 2021-11-09 2022-02-25 中铁工程装备集团有限公司 Hydraulic control system of tool changing robot for heading machine

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