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Multi-degree-of-freedom end executer for tool changing robot

An end effector and degree of freedom technology, applied in the direction of manipulators, collets, manufacturing tools, etc., can solve the problems of low tool change efficiency and single tool change function, and achieve the effects of improving work efficiency, flexible movement, and increasing the range

Active Publication Date: 2020-01-10
CHINA RAILWAY ENGINEERING EQUIPMENT GROUP CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In view of the deficiencies in the above-mentioned background technology, the present invention proposes a multi-degree-of-freedom end effector for a tool changing robot, which solves the problem of single tool changing function and low tool changing efficiency of the end effector for a tool changing robot in the prior art

Method used

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  • Multi-degree-of-freedom end executer for tool changing robot
  • Multi-degree-of-freedom end executer for tool changing robot
  • Multi-degree-of-freedom end executer for tool changing robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 2

[0034] Example 2, such as image 3 As shown, a multi-degree-of-freedom end effector for a tool changing robot, the clamping mechanism 202 includes a fixed claw 101 and a movable claw 102, the movable claw 102 is hinged to the fixed claw 101 and is opened and closed by a clamping cylinder 108, namely Under the expansion and contraction of the clamping oil cylinder, the movable claw moves relative to the fixed claw to realize whether the tool is grasped or not. The top of the fixed claw 101 is connected with the sliding drive mechanism. Under the action of the sliding drive mechanism, the fixed claw and the movable claw can slide and translate to realize the change of their positions, so as to adapt to the disassembly and replacement of tools in different positions.

[0035] Preferably, the sliding drive mechanism includes a guide rail 105, the guide rail 105 is fixed in the connecting box 206, a slider 103 is slid on the guide rail 105, the slider 103 is fixedly connected with t...

Embodiment 3

[0037] Example 3, such as Figure 4 As shown, a multi-degree-of-freedom end effector for a tool changing robot, the high-pressure cleaning mechanism 203 includes a nozzle joint 302 and an interface pipe 303, the nozzle joint 302 is sleeved in the interface pipe 303 and passes through the connecting box 206 upwards, The nozzle joint 302 is tightly connected with the interface pipe 303 , and the nozzle joint 302 can move up and down with the interface pipe 303 to realize the expansion and contraction of the nozzle joint 302 . The upper part of the nozzle joint 302 is provided with a high-pressure nozzle 301, and the interface pipe 303 is fixed inside the connection box 206 and connected with an external water source. The external water source enters the nozzle joint through the interface pipe, and then sprays out through the high-pressure nozzle to clean the designated tool for easy disassembly.

[0038] Preferably, as Figure 5 As shown, the two sides of the nozzle joint 302 ...

Embodiment 4

[0042] Example 4, such as Figure 8 As shown, a multi-degree-of-freedom end effector for a tool changing robot, the bolt tightening mechanism 204 includes a torque driver 401, a torque wrench 404 and a flexible end mechanism 406, the torque driver 401 connects with the torque wrench 404 through a link mechanism 402 The torque driver 401, the linkage mechanism 402 and the torque wrench 404 are located in the connection box 206, one end of the torque driver 401 is fixed on the connection box, and the torque driver can be a hydraulic cylinder. The flexible end mechanism 406 protrudes from the connection box 206, and one end of the torque wrench 404 is connected to the flexible end mechanism 406, and the torque driver drives the torque wrench to rotate through the linkage mechanism. The torque driver 401 drives the flexible end mechanism 406 to rotate through the link mechanism 402 and the torque wrench 404 . When in use, the flexible end mechanism blocks the bolt on which the to...

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Abstract

The invention discloses a multi-degree-of-freedom end executer for a tool changing robot, and solves the problems of single tool changing function and low tool changing efficiency of an end executionmechanism for a tool changing robot in the prior art. The multi-degree-of-freedom end executer for the tool changing robot comprises a multi-degree-of-freedom adjustment platform, a connection box body and a clamping mechanism, wherein the connection box body is connected with the multi-degree-of-freedom adjustment platform; the clamping mechanism is installed on the connection box body; and a high-pressure cleaning mechanism, a bolt tightening-releasing mechanism and an image acquisition mechanism are further arranged on the connection box body. The multi-degree-of-freedom end executer for the tool changing robot is ingenious in design, high in structure integration level, flexible to move, capable of carrying out clamping hoisting, bolt tightening-releasing and high-pressure cleaning ona tool, further capable of carrying out image acquisition and real-time monitoring, and increasing the tool changing efficiency and the operation safety coefficient, and high in promotional value.

Description

technical field [0001] The invention relates to the technical field of shield machine tool change, in particular to a multi-degree-of-freedom end effector for a tool change robot. Background technique [0002] During the construction process of the full-face tunnel boring machine, the tool consumption is large and the replacement is frequent. In the prior art, the tool is often changed manually, but the manual tool change operation is difficult, inefficient, and prone to safety accidents. In order to ensure the personal safety of construction workers, avoid cumbersome manual tool changes, improve tool change efficiency, and save material and financial resources, it has become a current research topic to replace manual shield machine tool changes with tool change robots. [0003] However, there are few studies on tool changing robots at this stage, especially the end effectors for tool change robots. The existing end effectors have a single function. The bolts or nuts are st...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/00B25J19/00
CPCB25J15/00B25J19/00Y02P90/02
Inventor 姜礼杰杨航文勇亮钱豪张树祺
Owner CHINA RAILWAY ENGINEERING EQUIPMENT GROUP CO LTD
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