Cutter changing robot execution mechanism suitable for shield

A technology of actuators and robots, which is applied in the direction of manipulators, program-controlled manipulators, chucks, etc., can solve problems such as high risk, high difficulty, and low efficiency, and achieve the goals of ensuring safety, improving tool change efficiency, and simplifying the disassembly process. Effect
CN111468932AActive Publication Date: 2020-07-31CENT SOUTH UNIV +1
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
CENT SOUTH UNIV
Publication Date
2020-07-31

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Abstract

The invention provides a cutter changing robot execution mechanism suitable for a shield. The cutter changing robot execution mechanism comprises a hobbing cutter dismounting and mounting mechanism, acutter changing mechanical arm and an action execution mechanism. The hobbing cutter dismounting and mounting mechanism is connected with a hobbing cutter and meanwhile is detachably connected with acutter box on a cutter disc of a shield tunneling machine. The cutter changing mechanical arm is arranged at the execution end of the action execution mechanism, the state of the hobbing cutter dismounting and mounting mechanism can be switched, so that the hobbing cutter dismounting and mounting mechanism and the cutter box are locked or loosened, meanwhile, the cutter changing mechanical arm can clamp the whole hobbing cutter and hobbing cutter dismounting and mounting mechanism, and movement along the cutter changing path is achieved through drive of the multi-freedom-degree action execution mechanism. According to the cutter changing robot execution mechanism, machine cutter changing work of the shield narrow space is achieved, dismounting, mounting and changing of the hobbing cutterof the total disc face of the cutter disc can be completed, traditional manual tool changing is completely replaced, the cutter changing efficiency and the shield overall construction efficiency are improved, and safety of shield construction is guaranteed.
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Description

technical field

[0001] The invention relates to the field of shield construction equipment, in particular to a tool changing robot actuator suitable for shield tunnel engineering. Background technique

[0002] The shield machine is a special construction machine for tunneling, and has broad application prospects in the construction of tunnels such as subways, railways, highways, and municipalities. As the core component of the shield machine, the hob is likely to cause serious failure in high-intensity operations under complex and changeable geological conditions. If it is not replaced in time, it will increase the overall energy consumption of the shield machine and delay the construction period. An inevitable process in the process. At present, some shield constructions at home and abroad still use manual tool change. The tool change operation is difficult, technically demanding, time-consuming, and risky in high-pressure and narrow working spaces, and may even cause majo...

Claims

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