A circular track tool transport device and tool transport method based on a tool changing robot

Abstract

The present invention discloses a circular track tool transport device and a tool transport method based on a tool changing robot, which solves the problem of low tool transport efficiency during the tool changing process of the robot in the prior art. The present invention includes a circular track fixed in the robot cabin, and a tool transport device for hoisting a rolling cutter is provided on the circular track, and the tool transport device moves along the circular track through a transmission mechanism. The transmission mechanism includes a driving device and a transmission device; the transmission device is respectively connected to the driving device and the tool transport device, and the driving device drives the tool transport device to move along the circular track through the transmission device. The present invention has a clever design and a compact structure, realizes efficient and rapid robot tool changing, reduces manual work, and improves tool changing efficiency. It is a major innovation in robot tool changing and has high practicality and promotion value.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel boring machines, and in particular to a circular track tool transport device and a tool transport method based on a tool changing robot. Background Art

[0002] During the construction of a full-face tunnel boring machine, the roller cutter consumption is large and the replacement is frequent. The roller cutter replacement operation time accounts for more than 10% of the tunnel construction cycle. The existing roller cutter replacement work mainly relies on manual operation. Under the construction environment of deep burial and high water pressure, the operation safety hazards are large, and major safety accidents such as casualties are prone to occur. According to statistics, nearly 70% of domestic tunnel construction safety accidents are directly related to manual cutter replacement operations. In order to achieve efficient and fast cutter replacement, reduce manual operations, and improve cutter replacement efficiency, robot cutter replacement has become a trend in tunnel boring machine construction. However, it is followed by the problem of cutter transportation based on the cutter replacement robot. How to cooperate with the cutter replacement robot to achieve rapid transportation of the roller cutter is a technical problem to be solved by the robot cutter replacement. Although the telescopic beam roller cutter transportation device with application number 201821053898.9 is a transportation method, it is not suitable for robots with flexible cutter replacement, and has poor integration with the cutter replacement robot, resulting in low cutter replacement efficiency. Summary of the invention

[0003] In view of the deficiencies in the above-mentioned background technology, the present invention proposes a circular track tool transport device and a tool transport method based on a tool changing robot, which solves the problem of low tool transport efficiency during the tool changing process of the robot in the prior art.

[0004] The technical solution of the present invention is implemented as follows: a circular track tool transport device based on a tool changing robot includes a circular track fixed in the robot cabin, a tool transport device for hoisting a roller cutter is provided on the circular track, and the tool transport device moves along the circular track through a transmission mechanism.

[0005] The transmission mechanism comprises a driving device and a transmission device; the transmission device is connected to the driving device and the knife-moving device respectively, and the driving device drives the knife-moving device to move along the annular track through the transmission device.

[0006] The transmission device includes a synchronous pulley and a synchronous belt. The upper part of the synchronous pulley is fixed on the top plate of the robot cabin, and the lower part of the synchronous pulley extends into the annular track and cooperates with the synchronous belt. The synchronous belt is connected to the tool transport device.

[0007] The driving device comprises a stepper motor fixed on the top plate of the robot cabin, and the stepper motor is connected to a synchronous pulley through a gear pair.

[0008] The knife transport device comprises a connecting plate seat, the upper part of which is connected to the annular track through a roller assembly, the lower part of which is provided with a telescopic member, and the lower part of which is connected to a hob frame.

[0009] The roller assembly includes a travel roller and a balancing roller. The travel roller is symmetrically arranged on the connecting plate seat, the balancing roller is located below the travel roller, the travel roller is located in the annular slide groove of the annular track, and the balancing roller is located at the lower part of the annular slide groove.

[0010] The hob frame is a frame-shaped plate frame, and an electromagnet positioning seat is provided on the inner wall of the frame-shaped plate frame.

[0011] The frame-shaped plate frame comprises a crossbeam seat and symmetrically arranged arm plates, the arm plates are hinged to the crossbeam seat and connected to the crossbeam seat through an opening and closing telescopic member.

[0012] A tunneling machine based on tool changing by a tool changing robot comprises the above-mentioned ring track transportation device.

[0013] A tool-carrying method based on a circular track tool-carrying device of a tool-changing robot, comprising the following steps: S1 fixing a circular track, a driving device and a transmission device on a top plate of a robot cabin, arranging at least two tool-carrying devices on the circular track, connecting a synchronous belt of the transmission device to the tool-carrying device, and driving the tool-carrying device to move along the circular track through the transmission device;

[0014] S2: When changing the tool, the tool changing robot extends out of the cabin door, removes the old roller from the cutter disc, returns to the robot cabin, controls the driving device to rotate, and drives the synchronous belt to stop the empty roller frame in the tool transport device to the specified position. Then the driving device stops, and the empty roller frame moves downward to the specified position under the action of the telescopic part. Then the tool changing robot places the old roller in the empty roller frame.

[0015] S3: The telescopic member is retracted, the driving device is started again, and after the cutter transport device with the old roller cutter is stopped at a specified position, the driving device stops;

[0016] S4: The telescopic member starts, stops the tool transport device equipped with the new hob at the specified position, the tool changing robot clamps the new hob, and then the telescopic member is retracted;

[0017] S5: The tool changing robot transports the new hob to the outside of the robot cabin for installation, completing the entire tool changing work.

[0018] The present invention realizes tool change by cooperating with the tool changing robot through the circular track tool transport device arranged in the robot cabin; at least two tool transport devices are arranged on the circular track, one for transporting the new roller to the top of the robot, and the other for transporting the old track replaced by the robot, so as to achieve a high degree of coordination with the tool changing robot and realize efficient tool transport at the same time. The present invention has a clever design and a compact structure, realizes efficient and fast robot tool change, reduces manual work, and improves tool change efficiency. It is a major innovation in robot tool change and has high practicality and promotion value. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying any creative work.

[0020] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0021] Figure 2 This is a schematic diagram of the arrangement state of the present invention in a tunnel boring machine.

[0022] Figure 3 It is a schematic diagram of the transmission mechanism structure of the present invention.

[0023] Figure 4 It is a schematic diagram of the first structural state of the knife moving device of the present invention.

[0024] Figure 5 It is a schematic diagram of the second structural state of the knife moving device of the present invention.

[0025] Figure 6 It is a schematic diagram of the arrangement state of the U-shaped connector of the present invention.

[0026] Figure 7 It is a schematic front view of the knife moving device structure of the present invention.

[0027] Figure 8 This is a schematic diagram of the tool changing robot's tool picking status.

[0028] Fig. 9 This is a schematic diagram of the tool changing robot's tool placement status. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] like Figure 1As shown, in Example 1, a circular track tool transport device based on a tool changing robot includes a circular track 101 fixed in a robot cabin 301, the circular track 101 is horizontally arranged on the top plate of the robot cabin, the tool changing robot is located in the robot cabin, the circular track is located above the tool changing robot 3, the robot cabin is located behind the cutter disc 2, and the tool changing robot can extend to replace the roller cutter on the cutter disc. A tool transport device 103 for hoisting the roller cutter 105 is provided on the circular track 101, and the tool transport device 103 moves along the circular track 101 through a transmission mechanism. At least two tool transport devices are arranged on the circular track, one for transporting the new roller cutter to the top of the robot, and the other for transporting the old track replaced by the robot. In this way, a high degree of coordination with the robot is achieved, while efficient tool transport is achieved.

[0031] Furthermore, the transmission mechanism includes a driving device 104 and a transmission device 102 ; the transmission device 102 is connected to the driving device 104 and the knife moving device 103 respectively, and the driving device 104 drives the knife moving device 103 to move along the annular track 101 through the transmission device 102 .

[0032] Further, if Figure 3 , 4 As shown, the transmission device 102 includes a synchronous pulley 1021 and a synchronous belt 1022. The upper part of the synchronous pulley 1021 is fixed to the top plate of the robot cabin 301 through a pulley fixing rod 1023. The pulley fixing rod 1023 is bolted to the top plate of the robot cabin. The lower part of the synchronous pulley 1021 extends into the annular track 101 and cooperates with the synchronous belt 1022. A plurality of synchronous pulleys are provided as needed for steering and supporting the synchronous belt. The synchronous belt 1022 is connected to the knife moving device 103. The knife moving device moves synchronously with the synchronous belt, and the synchronous belt drives the knife moving device to move along the annular track. Preferably, the driving device 104 includes a stepper motor 1041 fixed to the top plate of the robot cabin 301. The stepper motor is bolted to the top plate of the robot cabin through a fixing seat 1043. The stepper motor 1041 is connected to the synchronous pulley 1021 through a gear pair 1042. The active bevel gear of the gear pair is fixed on the output shaft of the stepper motor, and the driven bevel gear of the gear pair is installed on the upper part of a synchronous pulley. The stepper motor is driven by the gear pair, and the gear pair converts the rotation of the stepper motor into the rotation of the synchronous pulley, thereby driving the synchronous belt to rotate.

[0033] like Figure 5 , 6As shown, in Example 2, a circular track tool transport device based on a tool changing robot, the tool transport device 103 includes a connecting plate seat 1032, the upper part of the connecting plate seat 1032 is connected to the circular track 101 through a roller assembly to realize the rolling connection between the connecting plate seat and the circular track, and the lower part of the connecting plate seat 1032 is provided with a telescopic member 1033, the telescopic member adopts a telescopic oil cylinder, and the lower part of the telescopic member 1033 is connected with a hob frame 1034 for holding a hob. Under the action of the telescopic oil cylinder, the hob frame drives the hob to move up and down, which is convenient for the cooperation with the tool changing robot, and at the same time, it is convenient for the tool changing robot to quickly take and put the hob. A U-shaped connecting member 1024 is provided on the inner side of the connecting plate seat 1032, and the U-shaped connecting member 1024 is connected to the synchronous belt bolt to realize the connection between the connecting plate seat and the synchronous belt, and move synchronously with the synchronous belt.

[0034] Furthermore, the roller assembly includes a travel roller 1031 and a balancing roller 1035. The travel roller 1031 has two and is symmetrically arranged on the connecting plate seat 1032. The balancing roller 1035 is located below the travel roller 1031 and is used to balance the connecting plate seat 1032 to prevent it from tilting or shaking. The travel roller 1031 is located in the annular groove 1011 of the annular track 101, and the balancing roller 1035 is located at the lower part of the annular groove 1011, forming a three-sided contact with the annular groove, thereby improving the stability of the knife conveying device and realizing smooth knife conveying.

[0035] Furthermore, the hob frame 1034 is a frame-shaped plate frame with an opening at the bottom, which is used for loading and unloading the hob. An electromagnet positioning seat 1036 is provided on the inner wall of the frame-shaped plate frame, that is, the electromagnet positioning seat is provided with a groove for positioning the hob, and an electromagnet is installed in the groove. The electromagnet can tightly absorb the hob, so that the hob can remain stable and not fall out of the groove even under strong vibration during the operation of the knife transport device.

[0036] Preferably, the frame-shaped plate frame includes a crossbeam seat 34-1 and a symmetrically arranged arm plate 34-2, the arm plate 34-2 is hinged to the crossbeam seat 34-1, and is connected to the crossbeam seat 34-1 through an opening and closing telescopic member 34-3. The opening and closing telescopic member can be a cylinder, under the action of the cylinder, the arm plate is swung relative to the crossbeam seat, the frame-shaped plate frame is started, and the hob is quickly clamped or not. The other structures are the same as those in Example 1.

[0037] like Figure 2 As shown, embodiment 3: a tunnel boring machine based on tool changing robot includes the annular track switching device in embodiment 2. The annular track switching device cooperates with the tool changing robot arranged in the tunnel boring machine to realize the rapid replacement of the roller cutter on the cutter head 2.

[0038] like Figure 7 , 8As shown, Example 4: A tool moving method of a circular track tool moving device based on a tool changing robot, the steps are as follows: S1 fix the circular track 101, the driving device 104 and the transmission device 102 on the top plate of the robot cabin 1031, at least two tool moving devices 103 are arranged on the circular track 101, the synchronous belt 1022 of the transmission device 102 is connected to the tool moving device 103, and the driving device 104 drives the tool moving device 103 to move along the circular track 101 through the transmission device 102;

[0039] S2: When changing the tool, the tool changing robot 3 extends out of the cabin door, removes the old roller cutter from the cutter disc, returns to the robot cabin 1031, controls the driving device 104 to rotate, and drives the synchronous belt 1022 to stop the hollow roller cutter frame 1034 in the tool transport device to a specified position, then the driving device 104 stops, and the empty roller cutter frame 1034 moves downward to a specified position under the action of the telescopic member 1033, and then the tool changing robot 3 places the old roller cutter in the empty roller cutter frame 1034;

[0040] S3: the telescopic member 1033 is retracted, the driving device 104 is started again, and after the cutter transport device with the old roller cutter is stopped at a designated position, the driving device 104 stops;

[0041] S4: the telescopic member 1033 is activated, the tool transport device equipped with the new hob is stopped at a specified position, the tool changing robot 3 clamps the new hob, and then the telescopic member 1033 is retracted;

[0042] S5: The tool changing robot 3 transports the new hob to the outside of the robot cabin for installation, completing the entire tool changing operation.

[0043] The other structures are the same as those of Example 2 or Example 3.

[0044] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A circular track tool transport device based on a tool changing robot, characterized in that: It comprises an annular track (101) fixed in a robot cabin (301), a tool transport device (103) for hoisting a hob (105) is provided on the annular track (101), and the tool transport device (103) moves along the annular track (101) via a transmission mechanism; The transmission mechanism comprises a driving device (104) and a transmission device (102); the transmission device (102) is respectively connected to the driving device (104) and the knife-moving device (103); the driving device (104) drives the knife-moving device (103) to move along the circular track (101) through the transmission device (102); The transmission device (102) comprises a synchronous pulley (1021) and a synchronous belt (1022); the upper portion of the synchronous pulley (1021) is fixed to the top plate of the robot cabin (301); the lower portion of the synchronous pulley (1021) extends into the annular track (101) and cooperates with the synchronous belt (1022); the synchronous belt (1022) is connected to the knife transport device (103); The knife transport device (103) comprises a connecting plate seat (1032), the upper part of the connecting plate seat (1032) is connected to the annular track (101) via a roller assembly, the lower part of the connecting plate seat (1032) is provided with a telescopic member (1033), and the lower part of the telescopic member (1033) is connected to a rolling cutter frame (1034); the rolling cutter frame (1034) is a frame-shaped plate frame, and an electromagnet positioning seat (1036) is provided on the inner wall of the frame-shaped plate frame; At least two tool transport devices are arranged on the circular track, one part is used to transport a new roller cutter to the top of the robot, and the other part is used to transport the old track replaced by the robot out; when changing the tool, the tool changing robot (3) extends out of the cabin door, removes the old roller cutter from the cutter disc, returns it to the robot cabin (301), controls the driving device (104) to rotate, and under the drive of the synchronous belt (1022), stops the hollow roller cutter frame (1034) in the tool transport device at a specified position, and the tool changing robot (3) places the old roller cutter in the empty roller cutter frame (1034); then, the tool transport device equipped with the new roller cutter is stopped at the specified position, and the tool changing robot (3) clamps the new roller cutter.

2. The circular track tool transport device based on the tool changing robot according to claim 1 is characterized in that: The driving device (104) comprises a stepping motor (1041) fixed on the top plate of the robot cabin (301); the stepping motor (1041) is connected to a synchronous pulley (1021) via a gear pair (1042).

3. The circular track tool transport device based on the tool changing robot according to claim 1 is characterized in that: The roller assembly comprises a travel roller (1031) and a balancing roller (1035); the travel roller (1031) is symmetrically arranged on the connecting plate seat (1032); the balancing roller (1035) is located below the travel roller (1031); the travel roller (1031) is located in an annular slide groove (1011) of the annular track (101); and the balancing roller (1035) is located at the bottom of the annular slide groove (1011).

4. The circular track tool transport device based on the tool changing robot according to claim 3 is characterized in that: The frame-shaped plate frame comprises a crossbeam seat (34-1) and symmetrically arranged arm plates (34-2); the arm plates (34-2) are hinged to the crossbeam seat (34-1) and are connected to the crossbeam seat (34-1) via an opening and closing telescopic member (34-3).

5. A tunnel boring machine based on tool changing robot, characterized in that: It comprises the annular track tool transport device as described in claim 1 or 4.

6. A tool moving method based on the circular track tool moving device of the tool changing robot according to any one of claims 1 to 4, characterized in that: The steps are as follows: S1: fixing the circular track (101), the driving device (104) and the transmission device (102) on the top plate of the robot cabin (301); at least two knife-carrying devices (103) are arranged on the circular track (101); the synchronous belt (1022) of the transmission device (102) is connected to the knife-carrying device (103); and the driving device (104) drives the knife-carrying device (103) to move along the circular track (101) through the transmission device (102); S2: When changing the tool, the tool changing robot (3) extends out of the cabin door, removes the old roller cutter from the cutter disc, returns to the robot cabin (301), controls the driving device (104) to rotate, and under the drive of the synchronous belt (1022), stops the hollow roller cutter frame (1034) in the tool transport device at a specified position, then stops the driving device (104), and the empty roller cutter frame (1034) moves downward to the specified position under the action of the telescopic member (1033), and then the tool changing robot (3) places the old roller cutter in the empty roller cutter frame (1034); S3: the telescopic member (1033) is retracted, the driving device (104) is started again, and after the cutter transport device with the old roller cutter is stopped at a specified position, the driving device (104) is stopped; S4: the telescopic member (1033) is activated, the tool transport device equipped with the new roller cutter is stopped at a specified position, the tool changing robot (3) clamps the new roller cutter, and then the telescopic member (1033) is retracted; S5: The tool changing robot (3) transports the new roller cutter to the outside of the robot cabin for installation, completing the entire tool changing operation.

Images