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Shield tunneling machine robot tool changing experiment device

An experimental device and robot technology, applied in the direction of manipulators, program-controlled manipulators, chucks, etc., can solve problems such as low accuracy of simulated data and difficulty in tool change of shield machines, achieve high data reliability, reduce tool change risks, The effect of ensuring safety

Active Publication Date: 2020-01-14
CHINA RAILWAY ENGINEERING EQUIPMENT GROUP CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In view of the deficiencies in the above-mentioned background technology, the present invention proposes a shield machine robot tool change experimental device, which solves the problems of difficult tool change of shield machine and low accuracy of simulation data in the prior art

Method used

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  • Shield tunneling machine robot tool changing experiment device
  • Shield tunneling machine robot tool changing experiment device
  • Shield tunneling machine robot tool changing experiment device

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0025] Example 1, such as figure 1 As shown, a shield machine robot tool change experimental device includes a simulated soil bin 6 and a simulated tool change robot 4, the simulated soil bin 6 is connected with a muddy water filling device 12 and a pressurizing device 13, and the muddy water filling device 12 It is used to add muddy water to the simulated soil silo to simulate the muck environment in the earth silo of the shield machine, the maximum humidity can reach 100%, and the pressurizing device is used to pressurize the simulated soil silo to simulate the inside of the shield machine earth silo In a high-pressure environment, it can be pressurized to 0-30bar, so that the muddy water and pressure are the same as those in the actual soil bin, ensuring the authenticity of the simulated working conditions. The bottom of the simulated soil bin 6 is provided with a sewage discharge device 14, and the sewage discharge device 14 can be used to discharge muddy water in the simu...

Embodiment 2

[0029] Example 2, such as Figure 4 As shown, a shield machine robot tool change experimental device, the simulated tool change robot 4 includes a tool change robot body 402, the front end of the tool change robot body 402 is provided with an end effector 401, the end effector 401 is used for Hob replacement. The robot warehouse 5 is provided with a ground rail 403, and the ground rail is fixedly arranged on the inner wall of the lower part of the robot warehouse, and the tool changing robot body 402 is slidingly connected with the ground rail 403, that is, the tool changing robot body can, under the action of the driving mechanism, Slides along floor rails for movement away from or close to the reel assembly.

[0030] Preferably, as Figure 5As shown, the tool changing robot body 402 includes a first support arm 402-1 and a second support arm 402-5, and a first telescopic arm 402-2 is slid inside the first support arm 402-1, that is, the first telescopic arm 402-2 is The a...

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Abstract

The invention discloses a shield tunneling machine robot tool changing experiment device which solves the problem that a shield tunneling machine has difficulty in tool changing and is not high in simulation data precision in the prior art. The shield tunneling machine robot tool changing experiment device comprises a simulation soil bin and a simulation tool changing robot. The simulation soil bin is connected with a cement injecting device and a pressurizing device. The lower portion of the simulation soil bin is provided with a blowdown apparatus. A swinging type hob system is arranged in the simulation soil bin. A robot bin is arranged on one side of the simulation soil bin. The simulation tool changing robot is located in the robot bin and corresponds to the swinging type hob system.The real working environment of the shield tunneling machine can be simulated, the interior of the simulation soil bin is of a fully-sealed structure, the continuous work in a high-pressure high-humidity environment can be performed, the tool changing robot and an actual root changing robot are shrunk in the same proportion and have the same action executing and control system and actual working conditions, the high-precision simulation of the hob changing process is realized in the whole process, the tool changing precision is high, errors are small, the whole tool changing process can be clearly observed, and the data reliability is high.

Description

technical field [0001] The invention relates to the technical field of shield tunneling test equipment, in particular to a shield tunneling machine robot tool changing experiment device. Background technique [0002] During the construction process of the full-face tunnel boring machine, the tool consumption is large and the replacement is frequent. The time for tool inspection and tool replacement accounts for more than 10% of the tunnel construction cycle. The existing tool inspection and tool replacement work mainly depends on manual work. Under the construction environment such as high pressure, there are great potential safety hazards in operation, and major safety accidents such as casualties are prone to occur. According to statistics, nearly 70% of tunnel construction safety accidents in China are directly related to manual tool change operations. The international industry problem of "difficult detection and dangerous tool change" has become a bottleneck restricting...

Claims

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Application Information

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IPC IPC(8): E21D9/087E21D9/093B25J9/04B25J5/02B25J15/08B23P19/06
CPCB23P19/06B25J5/02B25J9/04B25J15/08E21D9/087E21D9/0671E21D9/093
Inventor 卓兴建谭顺辉姜礼杰欧阳凯杨航文勇亮陈敬举
Owner CHINA RAILWAY ENGINEERING EQUIPMENT GROUP CO LTD
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