A Design Method of Guided Positioning Interface for Tool System of Full-face Rock Tunneling Machine Based on Machine Operation
A tool system and machine operation technology, which can be used in mining equipment, earth-moving drilling, tunnels, etc., and can solve problems such as difficulty in high-precision positioning
Active Publication Date: 2022-01-04
DALIAN UNIV OF TECH
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Problems solved by technology
The key problem faced by the robot disassembly and assembly tool system is to loosen and tighten the fastening bolts of the tool system. Aiming at the difficult engineering problem of multi-target high-precision positioning of a large-load robot in a confined space, a self-centering and phase self-adjusting device is invented. The guided positioning interface of the tool system of the full-face rock boring machine is used to cooperate with the visual positioning system of the end effector to meet the positioning requirements of the robot tool change
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[0050] The specific implementation manner of the present invention will be described in detail below in conjunction with the accompanying drawings and technical solutions.
[0051] When the full-face tunnel boring machine is shut down, the manipulator is used to replace the hob, and the whole mechanism guides the docking action as follows:
[0052] Step 1: The tool changing robot moves, the fastening bolt of the tool system enters the guide cone structure 1 from the maximum outer envelope circle of the guide cone, and accommodates the radial error and angular error to reach the minimum outer envelope of the guide cone. At this time, the movable connection structure 3 rotates the joint 1 When the fastening bolt of the tool system touches the guide cone structure 1 cone surface to the minimum outer envelope of the guide cone, it rotates at a certain angle.
[0053] Step 2: The tool changing robot continues to move the tool system fastening bolts into the universal sleeve structu...
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The invention belongs to the technical field of tunnel excavation construction equipment, and provides a design method for the guiding positioning interface of the tool system of the full-section rock boring machine based on machine operation. The guiding positioning interface of the tool system of the full-section rock boring machine is mainly composed of a guide cone structure, It consists of a universal sleeve structure and an active connection structure. The tool-guided positioning interface of the present invention is compatible with the machine tool change task of the full-section rock tunnel boring machine, solves the engineering problem that the multi-target high-precision positioning of a large-load robot is difficult in a limited space, and considers various error factors to reduce the robot. The requirements for the positioning accuracy of the end, and its design method are given to ensure the realization of the function, thereby improving the efficiency of tool change, shortening the excavation period, and reducing the cost of the entire tunnel project.
Description
technical field [0001] The invention belongs to the technical field of tunnel excavation construction equipment. Under the trend of intelligent tunnel excavation equipment, a self-centering machine based on machine operation is designed for the engineering problem that it is difficult for a large-load robot to locate multiple targets with high precision in a limited space. and phase self-adjusting full-face rock boring machine tool system guided positioning interface, and its design method is given. Background technique [0002] During the excavation process of the tunnel boring machine, it mainly relies on the extrusion of the hob and the rock to cut and break the rock. In the harsh service environment, the consumption of the hob is huge, so the hob needs to be replaced frequently. In the current project, the hob is mainly replaced manually, which takes a long time to replace the cutter and has low efficiency, which seriously affects the progress of the tunnel construction ...
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IPC IPC(8): E21D9/11
CPCE21D9/11
Inventor 霍军周李豪兰天孟智超李高瑞
Owner DALIAN UNIV OF TECH