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A tool replacement robot for shield machine and its use method

A technology of robots and shield machines, used in manipulators, earth-moving drilling, manufacturing tools, etc., to ensure safety and improve work efficiency.

Active Publication Date: 2019-09-24
SHANDONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The invention ensures that technicians can perform remote control operations without entering the tool changing cabin

Method used

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  • A tool replacement robot for shield machine and its use method
  • A tool replacement robot for shield machine and its use method
  • A tool replacement robot for shield machine and its use method

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Embodiment Construction

[0041] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0042] It should be pointed out that the following detailed description is exemplary and intended to provide further explanation to the present application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

[0043] It should be noted that the terminology used here is only for describing specific implementations, and is not intended to limit the exemplary implementations according to the present application. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural, and it should also be understood that when the terms "comprising" and / or "comprising" are used in this specification, they mean There are features, steps, operations, means, components and / or combinatio...

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Abstract

The invention discloses a tool changing robot for a shield tunneling machine and a method. The tool changing robot comprises a robot body, a control system, a mechanical working system and a wirelesstransmission system. The robot body has an advancing system, and the advancing system bears the control system, the mechanical working system and the wireless transmission system and drives them to perform motions. The mechanical working system comprises a rotatable tool changing device, wherein the rotatable tool changing device is provided with a rotary spindle and multiple mechanical handles distributed around the circumference of the rotary spindle, each mechanical handle comprises a telescopic electric push rod and a mechanical gripper arranged at the front end of the electric push rod, and a tool bearing table for bearing tools to be changed is arranged at the lower end of the mechanical gripper. The control system controls movement of the advancing system, rotation of the rotary spindle ad telescoping of the electric push rod through the wireless transmission system to achieve automatic tool change.

Description

technical field [0001] The invention relates to a tool replacement robot for a shield machine and a use method thereof. Background technique [0002] The full-face tunnel boring machine TBM is usually used in hard rock tunnel excavation engineering. The hob is one of the main load-bearing parts of the TBM, and plays an important role in breaking rock during tunnel excavation. The knife seat is the positioning and supporting tool of the hob. Due to the large load of the hob and the harsh load environment during the TBM operation, not only the hob is easily worn and damaged, but also the tool holder is prone to damage or wear. [0003] At present, the way to replace the tool holder is that the operator realizes the replacement of a new tool holder through vague positioning with the naked eye at the construction site. When the tool holder is worn or damaged, the operator needs to enter the TBM working area to face the tool holder to replace it. The process of replacing the t...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): E21D9/087B25J9/16
Inventor 薛翊国李欣李术才陶宇帆邱道宏苏茂鑫张开李广坤
Owner SHANDONG UNIV
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