Tool changing robot based end executing mechanism

Abstract

The invention discloses a tool changing robot based end executing mechanism and aims at solving the problems of single tool changing function and low tool changing efficiency of a tool changing robotbased end executing mechanism in the prior art. The tool changing robot based end executing mechanism comprises a movement adjusting mechanism; the movement adjusting mechanism is provided with a clamping jaw assembly, an image acquisition mechanism, a bolt tightening mechanism and a high-pressure cleaning mechanism; and the clamping jaw assembly, the image acquisition mechanism, the bolt tightening mechanism and the high-pressure cleaning mechanism are arranged on a same plate board of the movement adjusting mechanism. The tool changing robot based end executing mechanism disclosed by the invention is ingenious in design, high in structure integration level and flexible in movement, and can perform clamping, hoisting, bolt tightening and high-pressure cleaning on a tool, is further capable of performing image acquisition, real-time monitoring, improvement on tool changing efficiency and increase in operation safety coefficient at the same time and has a relatively high popularizationvalue.

Description

technical field [0001] The invention relates to the technical field of shield machine tool change robots, in particular to an end effector based on 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 still manuall...

AI Technical Summary

Problems solved by technology

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

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