A tbm tool changing robot body structure

A technology of robot body and cutter head, which is applied in the direction of manipulator, metal processing equipment, metal processing, etc.

Active Publication Date: 2021-04-20
DALIAN UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] Aiming at the structural characteristics of the current TBM host, the present invention designs a robot body structure that enables the end effector to enter the cutter head from the TBM tool hole. Difficulties in carrying out operations in the space, and give the design method of the key dimensions of the manipulator of the body structure and the motion form of the robot, so as to realize the overall design and path planning of the robot body structure

Method used

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  • A tbm tool changing robot body structure
  • A tbm tool changing robot body structure
  • A tbm tool changing robot body structure

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Embodiment Construction

[0035] The specific implementation manner of the present invention will be described in detail below in conjunction with the accompanying drawings and technical solutions.

[0036] A tool changing robot body structure capable of entering into a cutter head from a TBM main beam.

[0037] (1) When the robot is not working, the status of each part of the robot is as shown in the attached manual. figure 1 , the telescopic arm 5 is in the horizontal position; (2) When the TBM stops, the robot enters the tool change program, the sliding seat 2 and the upper and lower steering seats 3 are linked, and the telescopic arm is adjusted to the position as attached in the manual. image 3 state, and make the lower end of the telescopic arm close to the lower limit point p2 of the height of the main girder, then, maintain this posture, push the telescopic arm deep into the cutter head, and make the telescopic arm enter the maximum enveloping circle of the trajectory Then rotate the telesco...

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Abstract

The invention provides a body structure of a TBM tool changing robot, which belongs to the technical field of robot structure design. Aiming at the structural characteristics of the current TBM host, the present invention designs a robot body structure that enables the end effector to enter the cutter head from the TBM tool hole. The difficulty of working in the space, and the design method of the key dimensions of the manipulator of the body structure and the motion form of the robot are given, so as to realize the overall design and path planning of the tool changing robot body structure.

Description

technical field [0001] The invention relates to a body structure of a TBM knife robot, which belongs to the technical field of robot structure design. Background technique [0002] With the development of our country's economy, in recent years, the full-face rock boring machine (TBM) has been widely used in the construction of water conservancy projects, railway transportation, subway projects, oil and gas pipelines and national defense tunnels in our country. [0003] From the working principle of TBM, it can be seen that when the cutter is cutting the rock mass, the wear of the cutter itself is inevitable. And wear will directly change the geometric characteristics of the tool, weaken the cutting ability of the tool, and increase the energy consumption of tunneling. If the tool fails due to excessive wear and cannot be replaced in time, it will cause the wear of the cutter head, which will seriously affect the progress and quality of the construction. Moreover, because t...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J5/02B23P19/00
CPCB23P19/00B25J5/02
Inventor 霍军周孟智超鲍有能黄晓琦
Owner DALIAN UNIV OF TECH
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