Manipulator capable of allowing machine to change cutter

Abstract

The invention belongs to the technical field of shield tunneling machine construction, and particularly relates to a manipulator capable of allowing a machine to change a cutter. Compared with the prior art, two unlocking threaded sleeves are arranged on the left side and the right side of the manipulator, and when a grabber and the shield tunneling machine cutter are in a grabbing state, the unlocking threaded sleeves can start a locking system of the shield tunneling machine cutter in a shield tunneling machine cutter head; when a hydraulic motor rotates forwards, idle wheels drive locking threaded sleeves on the two sides to rotate forwards, so that the shield tunneling machine cutter is locked in the shield tunneling machine cutter head is completed; and when the hydraulic motor rotates reversely, the idle wheels drive the locking threaded sleeves on the two sides to rotate reversely, so that the shield tunneling machine cutter is unlocked in the shield tunneling machine cutter head, convenience and practicability are achieved, the shield tunneling machine cutter can be accurately and firmly grabbed, the unlocking and locking actions of the shield tunneling machine cutter in the shield tunneling machine cutter head are completed, and meanwhile, a camera shooting device, a lighting device and a water spraying device are arranged at the front end of the manipulator, and an image at the front end of the shield tunneling machine can be transmitted to a control system in real time in the cutter placing and taking process of the manipulator.

Description

technical field [0001] The invention belongs to the technical field of shield machine construction, and in particular relates to a manipulator for machine tool change. Background technique [0002] The shield machine is a kind of tunnel construction equipment, which is widely used in the construction of tunnels such as railways, expressways, and subways. The shield machine tool is located at the front end of the shield machine and is the tooth of the shield machine. With the rotation of the cutter head, the tunnel excavation is carried out, and it is the main tool for the shield machine to cut rock and soil. [0003] The shield machine works in a muddy, humid, and high-pressure environment. After working for a period of time, the shield machine tool will wear out. At this time, the shield machine needs to stop working and replace the tool. At present, the tool change method of the shield machine is mostly manual tool change. The staff need to withstand the high humidity and...

AI Technical Summary

Problems solved by technology

[0005] The technical problem to be solved by the present invention is that the existing technology cannot automatically grab the special shield machine tool, cannot complete the disassembly process of the shield machine tool, and cannot realize machine tool change. In order to solve the above problems, the present invention provides a A manipulator for machine tool change

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