A tearing knife replacement manipulator and its control method
A control method and technology of tearing knives, which are used in manipulators, manufacturing tools, earth-moving drilling, etc., can solve problems such as time-consuming and safety hazards, and achieve the effects of reducing production costs, speeding up construction efficiency, and ingenious design structure.
Active Publication Date: 2020-06-02
CHINA RAILWAY ENGINEERING EQUIPMENT GROUP CO LTD
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AI Technical Summary
Problems solved by technology
[0004] Aiming at the deficiencies in the above-mentioned background technology, the present invention proposes a tearing knife replacement manipulator, which solves the problems of potential safety hazards and labor-consuming man-hours in the tearing knife replacement in the prior art
Method used
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Embodiment 2
[0033] Embodiment 2, a tearing knife replacement manipulator, the second rotary cylinder can be replaced by a geared motor, and the geared motor is used to drive the rotation of the rotating arm. The structure is simple and the control is convenient, but the structural strength is relatively low. Other structures of this embodiment are the same as those of Embodiment 1.
Embodiment 3
[0034] Embodiment 3, a tearing knife replacement manipulator, the second rotary cylinder can be replaced by a rotary hydraulic cylinder, and the rotary drive of the rotary arm is driven by a rotary hydraulic cylinder with high structural strength and long service life, but the cost is high. Other structures of this embodiment are the same as those of Embodiment 1.
Embodiment 4
[0035] Embodiment 4, a tearing knife replacement manipulator, the micro-telescopic cylinder 303 can be replaced by a micro-telescopic hydraulic cylinder, and a rotary hydraulic cylinder is used to rotate the rotating arm. The driving structure has high strength and long service life, but the cost is relatively high . Other structures of this embodiment are the same as those of Embodiment 1.
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The invention discloses a tearing knife replacing manipulator which solves the problems that potential safety hazards exist and labor time is consumed when tearing knives are replaced in the prior art. The tearing knife replacing manipulator comprises a fixed base, a rotary arm and a manipulator palm which are sequentially connected; the fixed base is arranged on a horizontal moving track inside ashield tunneling machine chamber in a sliding mode; the rotary arm comprises three mechanical arms which are sequentially connected and can rotate relatively; the free end of the rotary arm is connected with the manipulator palm which can rotate around the axis of the manipulator palm; a hexagon hole matched with a fixing nut of a tearing knife is formed in the axial direction of the manipulatorpalm; and the outer end portion of the hexagon hole is provided with a telescopic clamping jaw which can stretch and retract in the radial direction of the hexagon hole. The invention further discloses a control method of the tearing knife replacing manipulator. The tearing knife replacing manipulator is simple in structure and convenient to produce and manufacture, the production cost is reduced,the design structure is ingenious, the tearing knife can be rapidly and remotely controlled and replaced, and the construction efficiency is greatly improved.
Description
technical field [0001] The invention relates to the technical field of tearing knife replacement, in particular to a tearing knife replacement manipulator and a control method thereof. Background technique [0002] In the field of underground engineering, the application of shield method construction is more and more extensive. With the maturation of shield tunneling technology, shield excavation section presents a trend of high buried depth and high water pressure, so the improvement of construction efficiency is an important research topic. During the underground construction of the shield machine, the tearing knife is the main excavation function. Once the tearing knife is damaged, the tunnel excavation cannot be continued, and it must be shut down for maintenance. However, the structure of the tearing knife in the prior art is complex , the replacement is very difficult, so the replacement time of the existing tearing knife seriously affects the construction efficiency ...
Claims
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IPC IPC(8): B25J11/00B23P19/04B23P19/06E21D9/08
CPCB23P19/04B23P19/06B25J11/00E21D9/08
Inventor 欧阳凯叶蕾郑康泰张家年张世伟于金达于庆增张威威张华刚
Owner CHINA RAILWAY ENGINEERING EQUIPMENT GROUP CO LTD