Integrated end effector suitable for full-section tunnel boring machine tool changing robot

Abstract

The invention belongs to the technical field of tunneling construction equipment, and discloses an integrated end effector suitable for a full-section tunneling machine tool changing robot. The integrated end effector is composed of a clamping jaw driving mechanism, a sleeve driving mechanism and a lateral ejection mechanism, the clamping jaw driving mechanism drives a clamping jaw to be opened and closed, the sleeve driving mechanism drives a sleeve to be responsible for disassembling a hob fixing bolt, and the lateral ejection mechanism is driven by a hydraulic cylinder to laterally eject a hob out of a hob box. The end effector is matched with a robot to have the three functions of grabbing a hob, laterally ejecting the hob and disassembling a hob fixing bolt, and rapid disassembly and assembly of a hob box bolt and extraction of an eccentric type hob box hob are achieved. The device is suitable for the narrow working environment in the TBM, the internal structure of the TBM does not need to be changed, the tail end load is large, workers are effectively assisted in tool changing operation, and the TBM hob replacing efficiency is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of tunnel boring construction equipment and relates to an integrated end effector suitable for a tool changing robot of a full-section tunnel boring machine. Background Art

[0002] With the utilization and development of underground space, a large number of large-diameter tunnel projects such as pipelines and traffic tunnels need to be built. During the excavation process, the full-section rock tunnel boring machine (TBM) mainly relies on the extrusion and cutting of the cutter and the rock to break the rock. Under harsh environments such as heavy loads and strong impacts, the cutter needs to be replaced frequently. At present, the replacement of cutters is mainly done manually. In extreme environments such as confined, narrow, high temperature, high humidity, high pressure, and lack of oxygen, workers disassemble, transport, and install cutters weighing more than 200kg. The cutter replacement process is dangerous and the efficiency is low. According to statistics, the time for tool detection and replacement accounts for 1 / 3 of the total construction, the cost of tool detection and replacement accounts for 1 / 3 of the total construction, and safety accidents directly related to manual tool replacement operations account for 70%. Summary of the invention

[0003] The present invention provides an integrated end effector suitable for a tool changing robot of a full-face tunnel boring machine, which simplifies the tool changing process, improves the tool changing efficiency, greatly shortens the tool changing time, improves the work safety of workers, and reduces labor intensity.

[0004] The technical solution of the present invention:

[0005] An integrated end effector suitable for a tool changing robot of a full-face tunnel boring machine comprises a clamping jaw driving mechanism, a sleeve driving mechanism and a lateral ejection mechanism; the clamping jaw driving mechanism is responsible for driving the opening and closing of the clamping jaw to clamp a roller cutter; the sleeve driving mechanism drives the sleeve to be responsible for removing the fixing bolts of the roller cutter; the lateral ejection mechanism is driven by a hydraulic cylinder to eject the roller cutter laterally from a tool box.

[0006] The gripper driving mechanism comprises an end box 1, a hydraulic cylinder b, a pin b, a pin c, a pin d and a gripper 6; a pin hole connected to the robot body is reserved on the rear side of the end box 1, the cylinder body of the hydraulic cylinder b is connected to the pin hole of the end box 1 through the pin b, and can rotate around the central axis of the pin b; the connecting rod of the hydraulic cylinder b is connected to the gripper through the pin c, and can rotate around the central axis of the pin c, and the gripper is connected to the end box 1 through the pin d.

[0007] The sleeve drive mechanism comprises a terminal housing 1, a hydraulic motor b, a universal coupling 10, a torque amplifier 11 and a sleeve 12. The hydraulic motor b is fixed to the terminal housing 1, the input shaft of the torque amplifier is connected to the spline shaft of the hydraulic motor b through a universal joint coupling, and the rear side of the sleeve 12 is fixed to the output shaft of the torque amplifier.

[0008] The lateral ejection mechanism comprises an end box body 1 , a hydraulic cylinder c and a roller 7 . The cylinder body of the hydraulic cylinder c is fixed on the inner side of the end box body 1 , and the connecting rod of the hydraulic cylinder c is connected to the roller 7 .

[0009] The end effector of the present invention cooperates with the robot to have three functions: grabbing the hob, ejecting the hob laterally, and removing the hob fixing bolts, which can realize the rapid disassembly and assembly of the tool box bolts and the extraction of the eccentric tool box hob. It is suitable for the narrow working environment inside the TBM, does not need to change the internal structure of the TBM, has a large end load, effectively assists workers in tool changing operations, and improves the efficiency of TBM hob replacement. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0011] In the figure: 1 end box; 2 pin b; 3 hydraulic cylinder b; 4 pin c; 5 pin d; 6 clamping claw; 7 roller; 8 hydraulic cylinder c; 9 hydraulic motor b; 10 universal coupling; 11 torque amplifier; 12 sleeve. DETAILED DESCRIPTION

[0012] The specific implementation of the present invention is described in detail below with reference to the accompanying drawings and technical solutions.

[0013] Example 1: Integrated end effector for tool changing robot of full-face tunnel boring machine

[0014] The clamping jaw driving mechanism includes an end box 1, a hydraulic cylinder b, a pin b, a pin c, a pin d and a clamping jaw 6. When clamping the hob, the clamping jaw 6 can rotate around the central axis of the pin d under the drive of the hydraulic cylinder b, thereby realizing the opening and closing of the clamping jaw 6 to clamp the hob.

[0015] The sleeve drive mechanism includes the end box 1, hydraulic motor b, universal coupling 10, torque amplifier 11 and sleeve 12. When disassembling the hob fixing bolt, the torque generated by the hydraulic motor b is transmitted to the sleeve 12 after the direction is adjusted by the universal joint coupling and the torque amplifier amplifies the torque. The worker pulls the sleeve 12 to locate the bolt position, thereby completing the disassembly of the hob fixing bolt.

[0016] The lateral ejection mechanism consists of an end box 1, a hydraulic cylinder c and a roller 7. When the hob is ejected laterally, the hydraulic cylinder c extends from the side opening of the end box 1, and is pressed against the inner wall of the cutter box through the roller 7, thereby assisting the robot in pulling the hob out of the cutter box laterally.

[0017] Example 2: One-step removal of the old hob with an integrated end effector

[0018] Step 1: The end effector moves to the rear of the tool box and removes the hob fixing bolts. The torque generated by the hydraulic motor b is transmitted to the sleeve 12 after the direction is adjusted by the universal joint coupling and the torque amplifier amplifies the torque. The worker pulls the sleeve 12 to locate the bolt position, completes the removal of the hob fixing bolts, and then takes out the bolts and C-block.

[0019] Step 2: The end effector reaches deep into the tool box to clamp the hob, and the clamping jaw 6 rotates around the central axis of the pin d5 driven by the hydraulic cylinder b, thereby opening and closing to clamp the hob.

[0020] Step 3: After the clamping claws clamp the hob, the hob is pushed out laterally in the tool box. The hydraulic cylinder c extends from the side opening of the end box 1, and is pushed against the inner wall of the tool box through the roller 7 to move the hob laterally in the tool box.

[0021] Step 4: After moving sideways to the designated position, the end effector grips the reel and pulls it out backwards, and transports the reel out of the cutter head area. At this point, the removal of the old reel is completed, and the installation process of the new reel is exactly the opposite of the above process.

Claims

1. An integrated end effector suitable for a tool changing robot for a full-face tunnel boring machine, characterized in that: It includes a clamping jaw driving mechanism, a sleeve driving mechanism and a lateral ejection mechanism; the clamping jaw driving mechanism is responsible for driving the opening and closing of the clamping jaw to clamp the hob; the sleeve driving mechanism drives the sleeve and is responsible for removing the hob fixing bolts; the lateral ejection mechanism is driven by the hydraulic cylinder to eject the hob from the tool box laterally.

2. The integrated end effector suitable for a tool changing robot of a full-face tunnel boring machine according to claim 1, characterized in that: The clamping jaw driving mechanism comprises an end box (1), a hydraulic cylinder b (3), a pin shaft b (2), a pin shaft c (4), a pin shaft d (5) and a clamping jaw (6); a pin hole connected to the robot body is reserved on the rear side of the end box (1); the cylinder body of the hydraulic cylinder b (3) is connected to the pin hole of the end box (1) through the pin shaft b (2) and can rotate around the central axis of the pin shaft b (2); the connecting rod of the hydraulic cylinder b (3) is connected to the clamping jaw through the pin shaft c (4) and can rotate around the central axis of the pin shaft c (4); the clamping jaw is connected to the end box (1) through the pin shaft d (5).

3. The integrated end effector suitable for a tool changing robot of a full-face tunnel boring machine according to claim 1, characterized in that: The sleeve drive mechanism comprises an end housing (1), a hydraulic motor b (9), a universal coupling (10), a torque amplifier (11) and a sleeve (12); the hydraulic motor b (9) is fixed on the end housing (1), the input shaft of the torque amplifier is connected to the spline shaft of the hydraulic motor (b9) through the universal coupling, and the rear side of the sleeve (12) is fixed on the output shaft of the torque amplifier.

4. The integrated end effector suitable for a tool changing robot of a full-face tunnel boring machine according to claim 1, characterized in that: The lateral ejection mechanism comprises an end box (1), a hydraulic cylinder c (8) and a roller (7), wherein the cylinder body of the hydraulic cylinder c (8) is fixed inside the end box (1), and the connecting rod of the hydraulic cylinder c (8) is connected to the roller (7).

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