Novel shield tunneling machine tool changing tail end executing device

Abstract

The invention discloses a novel shield tunneling machine tool changing tail end executing device. The device comprises a large hand paw module, a small hand paw module, a guide module and an axial movement module. The large hand paw module comprises a first lower claw, a first pin, a first upper claw, a second pin, a first hydraulic cylinder, a first claw supporting frame and a guide shaft fixingplate, the first claw supporting frame is welded to the rear end of the first lower claw, the rear end of the first upper claw is rotationally connected with the upper end of the first claw supportingframe, the guide shaft fixing plate is welded on the first claw supporting frame, the small hand paw module comprises a second lower claw, a second upper claw, a second hydraulic cylinder, a second claw supporting frame and a sliding seat fixing plate. The device has the beneficial effects that the manual tool changing is replaced, so that the working efficiency of the tool changing is improved,the personnel do not need to enter, and the damage to the safety of workers is prevented.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a novel shield machine tool changing end effector. Background technique [0002] With the development of society, the increase of vehicles makes the traffic more and more congested, so people turn the focus of space development and utilization to underground. The demand for subways and subsea tunnels increased, and the shield machine began to enter the stage of history. The tool of the shield machine will be worn during the working process. The current method is to change the tool manually, which not only reduces the efficiency of tool change, but also the harsh working environment is easy to cause damage to the personal safety of the staff. For this reason, experts put forward In order to use the robot arm for automatic tool change. [0003] At present, there is no successful implementation of automatic tool change using a robotic arm in China. At this stage, the id...

AI Technical Summary

Problems solved by technology

[0004] Aiming at the problem of manual tool change in the prior art, the work efficiency is low, and the harsh working environment is easy to cause damage to the personal safety of the staff, a new type of shield machine tool change end effector is provided.

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