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A test bench for simulating the tool change of an open tbm tool change robot

A test bench and robot technology, applied in the direction of instruments, teaching models, educational appliances, etc., can solve the problems of low replacement efficiency, difficulty in replacement, and dangerous replacement of the environment, and achieve the effect of reducing research and development costs.

Active Publication Date: 2020-04-07
DALIAN UNIV OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] The invention is based on solving the problems of difficult manual replacement of traditional hobs, low replacement efficiency, and dangerous replacement environment. Based on the structural characteristics of the TBM cutter head and the main beam, a test device is invented to simulate different types of hobs on the TBM cutter head. Knives, mainly including center hobs and front hobs

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  • A test bench for simulating the tool change of an open tbm tool change robot
  • A test bench for simulating the tool change of an open tbm tool change robot
  • A test bench for simulating the tool change of an open tbm tool change robot

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Embodiment Construction

[0021] The specific implementation of the present invention will be described in detail below in conjunction with the accompanying drawings and technical solutions. The main purpose of the present invention is to simulate the environment of open TBM tool change robot tool change. In practice, TBM hob replacement can only be realized in the lower half of the cutter head. The hob is mainly transported in through the tool hole in the lower half of the main beam. Therefore, this test bench only needs to simulate the lower half of the cutter head and the lower half of the main beam to meet the needs. In the present invention, it is only necessary to adjust the model of one hob to realize the pose transformation of multiple positive hobs and central hobs, which reduces the number of hobs on the test bench and reduces the research and development cost.

[0022] The tool changing robot can only be installed in the robot mounting holes 3-4 of the main beam, and the top of the robot cann...

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Abstract

The invention belongs to the technical field of design of full-section rock heading machines, and provides a test table for simulating tool changing of an open type TBM tool changing robot. Taking theopen type TBM host system structure as a research, and considering that the tool changing test table of the tool changing robot needs to meet the posture adjustment of the hob in different arrangement modes, the test table mainly comprises a cutterhead rack, a hob adjusting device and a test table girder simulation part. The cutterhead rack is made of I-shaped steel and carries the mass of the cutterhead structure; the driving power supply of the hob adjusting device is electrically driven, and the change of the pole diameter and the pole angle of the hob can be realized by adjusting the parameters of different driving sources, and then a set of hob is used for simulating the position and the posture of the multi-position hob of the cutterhead. The test table can simulate the adjustment of different poses of the hob from the test link, the research and development cost of the TBM tool changing robot is reduced, and guidance is provided for industrial application of the TBM tool changing robot.

Description

technical field [0001] The invention relates to a test bench for simulating tool changing of an open-type TBM tool changing robot, and belongs to the technical field of design of full-section rock boring machines. Background technique [0002] Full-face rock boring machine (TBM) is a large-scale high-end equipment in the field of tunnel construction. It integrates tunneling, slag extraction and support, and is widely used in water conservancy and hydropower, municipal, high-speed rail tunnels and other fields. As the core component of the tunnel boring machine, the cutter head directly participates in the rock process and bears the coupling effect of random distributed loads at multiple points in space. The structure vibrates violently, and serious engineering problems such as hob wear, cutter head panel cracking, and main bearing seal failure often occur. question. When the hob is severely worn during the working process of the cutter head, it is imperative to replace the ...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G09B25/02
CPCG09B25/02
Inventor 霍军周李旋旋黄晓琦孟智超鲍有能
Owner DALIAN UNIV OF TECH