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A shield machine robot tool change experimental device

An experimental device and robot technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of difficult tool change of shield machines and low accuracy of simulated data, and achieve the reduction of tool change risks, high data reliability, and high reliability. The effect of high tool change accuracy

Active Publication Date: 2021-11-19
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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  • A shield machine robot tool change experimental device
  • A shield machine robot tool change experimental device
  • A shield machine robot tool change experimental 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 an experimental device for changing a tool of a shield machine robot, which solves the problems in the prior art that the tool change of the shield machine is difficult and the accuracy of simulation data is not high. The invention includes a simulated soil bin and a simulated tool changing robot. A muddy water filling device and a pressurizing device are connected to the simulated soil bin. The lower part of the simulated soil bin is provided with a sewage discharge device, and a swingable hob system is installed in the simulated soil bin. , one side of the simulated soil bin is provided with a robot bin, and the simulated tool changing robot is located in the robot bin and corresponds to the swingable hob system. The invention can simulate the real working environment of the shield machine, and the inside of the simulated soil bin is a fully sealed structure, which can withstand continuous work in a high-pressure and high-humidity environment. The tool changing robot is reduced in proportion to the actual tool changing robot, and its execution action and control system The same as the actual working conditions, the whole process of hob tool change is simulated with high precision, the tool change accuracy is high, the error is small, and the entire tool change 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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Patent Type & Authority Patents(China)
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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