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Tool changing robot body applied to full face tunnel boring machine

A technology of tunnel boring machine and robot, which is applied in tunnels, mining equipment, earthwork drilling and mining, etc. It can solve problems such as difficulty in tool change, achieve the effect of improving tool change efficiency and reducing tool change risk

Active Publication Date: 2019-04-09
DALIAN UNIV OF TECH
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  • Abstract
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The present invention is a tool changing robot fuselage applied to a full-section tunnel boring machine. Knife efficiency, reduce construction costs

Method used

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  • Tool changing robot body applied to full face tunnel boring machine
  • Tool changing robot body applied to full face tunnel boring machine
  • Tool changing robot body applied to full face tunnel boring machine

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Embodiment Construction

[0029] The specific implementation manner of the present invention will be described in detail below in conjunction with the accompanying drawings and technical solutions.

[0030] Step 1: When the tunnel boring machine is excavating, the robot gestures at the position when the tool is not changed Figure 6 It is shown in the robot cabin behind the cutter head. At this time, the door of the robot cabin is closed, and the soil and rock slag in the cutter head will not touch the robot body. The main body 1 part of the lift is in a retracted state.

[0031] Step 2: When the tunnel boring machine is shut down for maintenance, the replacement of the hob is started. At this time, the robot cabin door is in an open state, and the main part of the robot moves to the robot cabin door along the robot base slide rail 5-2. The stroke here is shorter. Long, you can choose the hydraulic motor to drive the ball screw to push the track seat to slide on the track. The schematic diagram of th...

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Abstract

The invention belongs to the technical field of tunnel construction, and relates to a tool changing robot body applied to a full face tunnel boring machine according to the internal structure of fullface tunnel boring machine cutter head and the distribution mode of hobbing cutters on the cutter head. The tool changing robot body mainly comprises a lifter body, a sleeve rail, a robot upper arm, arobot sliding base and a robot base. The tool changing robot body aims at solving the problem that the full face tunnel boring machine is difficult and dangerous to change tools, guaranteeing the life safety of tool changing workers, improving the tool changing efficiency and reducing the construction cost. The tool changing robot can drive an end effector to accomplish the changing of worn hobbing cutters on the cutter head in extremely severe environment, such as high voltage, and further accomplish the breakthrough of replacing human by a machine.

Description

technical field [0001] The invention belongs to the technical field of tunnel construction. According to the internal structure of the full-section tunnel boring machine cutterhead and the arrangement of hobs on the cutterhead, a tool-changing robot body applied to the full-section tunnel boring machine is designed. Background technique [0002] The full-face tunnel boring machine is a special equipment for tunneling, which integrates the functions of excavating soil, supporting, segment assembly and conveying soil slag. As one of the most advanced tunnel construction methods, the full-section tunnel boring machine is in increasing demand with the construction and development of the country. However, the degree of automation in some key operating systems is relatively low, which is prominently reflected in the fact that the tool replacement operation in the cutterhead system is still dominated by manual work, and automation and intelligence are even more out of the question....

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): E21D9/087
CPCE21D9/087
Inventor 霍军周李晓同孟智超黄晓琦郭凯
Owner DALIAN UNIV OF TECH
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