A foldable tool changing robot suitable for TBM cutter replacement

Abstract

The application belongs to the field of structural design of robots, and discloses a foldable tool changing robot suitable for TBM cutter changing, which comprises a conveying guide rail, a machine body and an end effector; the machine body is arranged on the conveying guide rail, and comprises a first mechanical arm, a second mechanical arm, a third mechanical arm, a fourth mechanical arm and a fifth mechanical arm; the first mechanical arm, the second mechanical arm, the third mechanical arm, the fourth mechanical arm and the fifth mechanical arm are connected with each other to adjust the position of the end effector and the folding and unfolding of the machine body of the robot; the end effector comprises a gripper driving mechanism, a sleeve driving mechanism and a lateral ejection mechanism; the application can realize full coverage of the tool changing area of a TBM cutter head, is suitable for tool changing operation in a narrow space inside the TBM, has high end load capacity, can effectively assist workers in tool changing operation, and improves the tool changing efficiency of the TBM.

Description

Technical Field

[0001] This invention belongs to the field of robot structural design and relates to a foldable tool changing robot suitable for TBM hobbing tool replacement. Background Technology

[0002] With the utilization and development of underground space, numerous large-diameter tunnel projects, such as pipelines and transportation tunnels, require construction. During excavation, full-face rock tunnel boring machines (TBMs) primarily rely on the cutting and crushing action of cutters against the rock. Under harsh environments with heavy loads and strong impacts, the cutters need frequent replacement. Currently, cutter replacement is mainly done manually. In extreme environments such as confined spaces, high temperatures, high humidity, high pressure, and oxygen deficiency, workers disassemble, transport, and install cutters weighing over 200 kg. Statistics show that cutter inspection and replacement account for one-third of the total construction time and cost, and 70% of safety accidents are directly related to manual cutter replacement. The cutter replacement process is dangerous and inefficient. Currently, cutter-changing robots are mainly used in large-diameter shield tunneling machines. However, the internal space of a TBM is much narrower than that of a shield tunneling machine, and existing cutter-changing robots are too large to work inside a TBM.

[0003] Therefore, in order to improve cutter replacement efficiency, shorten tunneling period, reduce tunnel construction costs, and realize the application of robotic cutter replacement inside TBMs, this foldable cutter replacement robot for TBM cutter replacement was invented. Summary of the Invention

[0004] The purpose of this invention is to provide a foldable tool changing robot suitable for changing hobs on a TBM cutterhead. This simplifies the tool changing process, improves tool changing efficiency, significantly shortens tool changing time, enhances worker safety, and reduces labor intensity.

[0005] The technical solution of the present invention:

[0006] A foldable tool changer robot suitable for TBM cutter replacement includes a transport rail 1, a body, and an end effector 7. The body is connected to the transport rail 1 and includes a first robotic arm 2, a second robotic arm 3, a third robotic arm 4, a fourth robotic arm 5, and a fifth robotic arm 6. The transport rail 1 is connected to the end effector 7 through the first robotic arm 2, the second robotic arm 3, the third robotic arm 4, the fourth robotic arm 5, and the fifth robotic arm 6. The end effector 7 includes a gripper drive mechanism, a sleeve drive mechanism, and a lateral ejection mechanism.

[0007] The transport guide rail 1 includes an I-beam 1-1, a rack 1-2, a gear 1-3, a hydraulic motor a1-4, a base 1-5, a base plate 1-6, T-rollers 1-7, and connecting bolts 1-8. The I-beam 1-1 is suspended in the main beam space 8 on the back of the TBM cutter head 10. The rack 1-2 is fixed to the lower side of the upper flange of the I-beam 1-1. The gear 1-3 is fixed on the spline shaft of the hydraulic motor a1-4 and meshes with the rack 1-2. The hydraulic motor a1-4 is fixedly connected to the support platform of the base 1-5. The base 1-5 is fixed on the base plate 1-6. The base 1-5 includes a support platform and a support plate spaced apart from it. The support platform and the support plate are respectively connected to a set of T-rollers 1-7 by connecting bolts 1-8. There are two sets of T-rollers 1-7. The two sets of T-rollers 1-7 are located on both sides of the I-beam 1-1 and can roll along the upper side of the lower flange of the I-beam 1-1.

[0008] The first robotic arm 2 includes a swing cylinder a2-1, a front end 2-2, a middle end 2-3, and a rear end 2-4. The base of the swing cylinder a2-1 is installed on the lower part of the base plate 1-6 of the transport guide rail 1. The front end 2-2 of the first robotic arm has a U-shaped structure and is connected to the two ends of the swing cylinder a2-1 by flanges. The front end 2-2 and the middle end 2-3 of the first robotic arm are fixedly connected by welding. The middle end 2-3 and the rear end 2-4 of the first robotic arm are fixedly connected by welding. A flange hole is opened on the rear end 2-4 of the first robotic arm.

[0009] The second robotic arm 3 includes a front end 3-1, a hydraulic cylinder a3-2, a connecting rod a3-3, a flange 3-4, a swing cylinder b3-5, a support 3-6, an electromagnet 3-7, a pin a3-8, a connecting rod b3-9, and a rear end 3-10. One end of the front end 3-1 has a flange hole that mates with a flange on one side of the swing cylinder b3-5. The other flange of the swing cylinder b3-5 mates with a flange hole on the rear end 2-4 of the first robotic arm. The rear end 3-10 is a hollow structure. One end of the front end 3-1 is connected to the rear end 3-10, and the other end of the rear end 3-10 is connected to the flange 3-4. The hydraulic cylinder a3-2 is installed... Inside the hollow interior of the rear end 3-10 of the second robotic arm, the cylinder body of hydraulic cylinder a3-2 is connected to the lifting lug of the rear end 3-10 of the second robotic arm by a pin; connecting rod a3-3 is connected to the rear end 3-10 of the second robotic arm, the piston rod of hydraulic cylinder a3-2, and one end of connecting rod b3-9 by pins respectively, and the other end of connecting rod b3-9 is pinned to the lifting lug on one side of support 3-6; electromagnet 3-7 is fixed to the bottom of support 3-6, and the upper part of support 3-6 has a hole for connecting to the rear end 3-10 of the second robotic arm. The upper hole of support 3-6 is connected to the rear end 3-10 of the second robotic arm by pin a3-8. Support 3-6 can rotate around the axis of pin a3-8 and rotate out and back into the rear end 3-10 of the second robotic arm under the drive of hydraulic cylinder a3-2.

[0010] The third robotic arm 4 includes a swing cylinder c4-1, a connecting plate a4-2, a swing cylinder d4-3, a rear end 4-4, a middle end 4-5, and a front end 4-6. A flange on one side of the swing cylinder c4-1 is connected to the flange 3-4 in the second robotic arm 3. The base of the swing cylinder c4-1 is fixedly connected to the connecting plate a4-2. The connecting plate a4-2 is connected to the base of the swing cylinder d4-3. Flanges on both sides of the swing cylinder d4-3 are connected to the U-shaped front end 4-6 of the third robotic arm. The front end 4-6 and the middle end 4-5 are fixedly connected by welding. The middle end 4-5 and the rear end 4-4 are fixedly connected by welding. The rear end 4-4 has flange holes.

[0011] The fourth robotic arm 5 includes a swing cylinder e5-1, a front end 5-2, a middle end 5-3, and a rear end 5-4. One side flange of the swing cylinder e5-1 is connected to the flange hole of the rear end 4-4 of the third robotic arm. The other side flange of the swing cylinder e5-1 is connected to the front end 5-2 of the fourth robotic arm. The front end 5-2 and the middle end 5-3 of the fourth robotic arm are fixedly connected by welding. The middle end 5-3 and the rear end 5-4 of the fourth robotic arm are fixedly connected by welding. The rear end 5-4 of the fourth robotic arm has a flange hole.

[0012] The fifth robotic arm 6 includes a swing cylinder f6-1, a fifth robotic arm front end 6-2, a fifth robotic arm rear end 6-3, a swing cylinder g6-4, a connecting plate b6-5, and a swing cylinder h6-6. One flange of the swing cylinder f6-1 is connected to the flange hole of the fourth robotic arm rear end 5-4, and the other flange is connected to the fifth robotic arm front end 6-2. The fifth robotic arm front end 6-2 and the fifth robotic arm rear end 6-3 are fixedly connected by welding. The fifth robotic arm rear end 6-3 is connected to one flange of the swing cylinder g6-4. The other flange of the swing cylinder g6-4 is connected to one side of the connecting plate b6-5, and the other side of the connecting plate b6-5 is connected to the base of the swing cylinder h6-6.

[0013] The gripper drive mechanism includes a hydraulic cylinder b7-3, a pin b7-2, a pin c7-4, a pin d7-5, and a gripper 7-6. The gripper drive mechanism is a symmetrical structure, with two grippers 7-6, two hydraulic cylinders b7-3, two pins b7-2, two pins c7-4, and two pins d7-5 arranged symmetrically. The cylinder body of the hydraulic cylinder b7-3 is connected to the reserved hole in the end housing 7-1 through the pin b7-2 and can rotate around the central axis of the pin b7-2. The connecting rod of the hydraulic cylinder b7-3 is connected to the gripper 7-6 through the pin c7-4 and can rotate around the central axis of the pin c7-4. The gripper 7-6 is connected to the end housing 7-1 through the pin d7-5.

[0014] The sleeve drive mechanism includes a hydraulic motor b7-9, a universal coupling 7-10, a torque amplifier 7-11, and a sleeve 7-12. The sleeve drive mechanism is a symmetrical structure, with two hydraulic motors b7-9, universal couplings 7-10, torque amplifiers 7-11, and sleeves 7-12 arranged symmetrically. The hydraulic motor b7-9 is fixed on the end housing 7-1. The input shaft of the torque amplifier 7-11 is connected to the splined shaft of the hydraulic motor b7-9 through the universal coupling 7-10. The rear side of the sleeve 7-12 is fixed on the output shaft of the torque amplifier.

[0015] The lateral ejection mechanism includes a hydraulic cylinder c7-8 and a roller 7-7; the cylinder body of the hydraulic cylinder c7-8 is fixed inside the end box 7-1, the connecting rod of the hydraulic cylinder c7-8 is connected to the roller 7-7, and the hydraulic cylinder c7-8 extends out from the side opening of the end box 7-1 during operation, pushing the roller 7-7 against the inner wall of the tool box.

[0016] The beneficial effects of this invention are:

[0017] (1) The technical solution provided by the present invention can fully cover the tool changing area of ​​medium and large diameter TBM cutter heads. The tool changing robot 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 cutter replacement.

[0018] (2) The present invention is mainly composed of a transport guide rail 1, a first robotic arm 2, a second robotic arm 3, a third robotic arm 4, a fourth robotic arm 5, a fifth robotic arm 6 and an end effector 7 in sequence, which is a serial robot structure; it can be installed in the order described above during the installation process, and is suitable for installation in the narrow space inside the TBM.

[0019] (3) The robot body of the present invention includes a first robotic arm 2, a second robotic arm 3, a third robotic arm 4, a fourth robotic arm 5, and a fifth robotic arm 6, which are suitable for the narrow space inside the TBM. With the cooperation between the robotic arms, they can retract and expand. When not in operation, they retract and stop at the rear of the main beam space 8. When in operation, they move to the tool changing area on the back of the tool disc 10 and expand.

[0020] (4) The end effector 7 designed in this invention has three functions: gripping the cutter, pushing the cutter out laterally, and removing the cutter fixing bolts, which solves the problems of quick disassembly and assembly of the cutter box bolts and extraction of the eccentric cutter box cutter. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0022] Figure 2 This is a schematic diagram of the transport guide rail from a frontal perspective, as per the present invention.

[0023] Figure 3 This is a structural schematic diagram of the transport guide rail from a side view, as per the present invention.

[0024] Figure 4 This is a schematic diagram of the first robotic arm structure involved in the present invention;

[0025] Figure 5 This is a schematic diagram of the second robotic arm structure involved in the present invention;

[0026] Figure 6 This is a cross-sectional schematic diagram of the second robotic arm structure involved in the present invention;

[0027] Figure 7 This is a schematic diagram of the third robotic arm structure involved in the present invention;

[0028] Figure 8 This is a schematic diagram of the fourth robotic arm structure involved in the present invention;

[0029] Figure 9 This is a schematic diagram of the fifth robotic arm structure involved in the present invention;

[0030] Figure 10 This is a schematic diagram of the end effector structure involved in the present invention;

[0031] Figure 11This is a cross-sectional view of the end effector structure involved in the present invention;

[0032] Figure 12 This is a schematic diagram showing the position of the tool-changing robot in standby mode according to the present invention;

[0033] Figure 13 This is a schematic diagram of the tool-changing robot of the present invention during the disassembly of the bottom tool;

[0034] In the diagram: 1. Transport guide rail; 1-1. I-beam; 1-2. Rack; 1-3. Gear; 1-4. Hydraulic motor a; 1-5. Base; 1-6. Base plate; 1-7. T-roller; 1-8. Connecting bolt; 2. First robotic arm; 2-1. Swing cylinder a; 2-2. Front end of the first robotic arm; 2-3. Middle end of the first robotic arm; 2-4. Rear end of the first robotic arm; 3. Second robotic arm; 3-1. Front end of the second robotic arm; 3-2. Hydraulic cylinder a; 3-3. Connecting rod a; 3-4. Flange; 3-5. Swing cylinder b; 3-6. Support; 3-7. Electromagnet; 3-8. Pin a; 3-9. Connecting rod b; 3-10. Rear end of the second robotic arm; 4. Third robotic arm; 4-1. Swing cylinder c; 4-2. Connecting plate a; 4-3. Swing cylinder d; 4-4. Rear end of the third robotic arm; 4- 5. Middle of the third robotic arm; 4-6. Front end of the third robotic arm; 5. Fourth robotic arm; 5-1. Swing cylinder e; 5-2. Front end of the fourth robotic arm; 5-3. Middle of the fourth robotic arm; 5-4. Rear end of the fourth robotic arm; 6. Fifth robotic arm; 6-1. Swing cylinder f; 6-2. Front end of the fifth robotic arm; 6-3. Rear end of the fifth robotic arm; 6-4. Swing cylinder g; 6-5. Connecting plate b; 6-6. Swing cylinder h; 7. End effector; 7-1. End effector housing; 7-2. Pin b; 7-3. Hydraulic cylinder b; 7-4. Pin c; 7-5. Pin d; 7-6. Gripper; 7-7. Roller; 7-8. Hydraulic cylinder c; 7-9. Hydraulic motor b; 7-10. Universal coupling; 7-11. Torque amplifier; 7-12. Sleeve; 8. Main beam space; 9. Tool hole; 10. Tool disc; Detailed Implementation

[0035] The specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings and technical solutions.

[0036] The structure of this invention has a certain degree of adaptability and can be combined and assembled according to the excavation diameter and structural dimensions of different TBMs and the tool changing space at the cutterhead 10. Now, with reference to the above-mentioned figures, an implementation example of a hydraulically driven, nine-DOF foldable tool changing robot suitable for large and medium-diameter TBMs during cutter replacement is presented.

[0037] refer to Figures 1 to 10This example discloses a foldable tool changing robot suitable for changing hobs on a TBM cutterhead, including a transport rail 1, a body and an end effector 7;

[0038] The tool changing robot remains stationary at the lower front end of the main beam during TBM tunneling. When the TBM stops, the tool changing robot replaces the 10 roller cutters on the TBM cutterhead. The tool changing process can be divided into the following steps:

[0039] Step 1: Initial pose of the robot as follows Figure 9 As shown, the cutter head 10 rotates to the designated position.

[0040] Step 2: The hydraulic motor a1-4 in the transport guide rail 1 drives the gear 1-3, causing the robot to move along the I-beam 1-1 to the tool changing area.

[0041] Step 3: Swing cylinder a2-1 rotates 90° clockwise, swing cylinder b3-5 rotates 90° counterclockwise, swing cylinder d4-3 rotates 120° clockwise, swing cylinder e5-1 rotates 270° counterclockwise, and swing cylinder f6-1 rotates 150° clockwise, thereby unfolding the folded part of the robot.

[0042] Step 4: Inside the second robotic arm, hydraulic cylinder a3-2 moves, and under the action of the linkage mechanism, support 3-6 extends out from inside the second robotic arm 3. Electromagnet 3-7 is energized, fixing the front of the robot in the main beam space 8.

[0043] Step 5: Rotate the swing cylinder e5-1 90° clockwise and the swing cylinder f6-1 90° counterclockwise to extend the end effector into the tool box.

[0044] Step 6: The worker fixes the sleeve 7-12 on the end effector 7 to the hob fixing bolt. The hydraulic motor b7-9 in the sleeve drive mechanism drives the universal coupling 7-10 and the torque amplifier 7-11, thereby driving the sleeve 7-12 to remove the hob fixing bolt.

[0045] Step 7: The gripper drive mechanism of the end effector 7 drives the grippers 7-6 to clamp the hob.

[0046] Step 8: The hydraulic cylinder c7-8 in the lateral ejection mechanism of the end effector 7 pushes the roller 7-7 against the inner wall of the tool box, and pulls the old hob out of the tool box laterally;

[0047] Step 9: Rotate the swing cylinder d5-1 counterclockwise 90° and the swing cylinder f6-1 clockwise 90° to pull the old hob out of the tool box;

[0048] Step 10: Inside the second mechanical arm, electromagnet 3-7 is de-energized, hydraulic cylinder a3-2 moves, and under the action of the linkage mechanism, support 3-6 retracts from inside the second mechanical arm 3.

[0049] Step 11: Rotate the swing cylinder a2-1 counterclockwise by 90°, the swing cylinder b3-5 clockwise by 90°, the swing cylinder d4-3 counterclockwise by 120°, and the swing cylinder e5-1 clockwise by 270° to retract the robot into its folded state.

[0050] Step 12: The robot lifts the old hob in the folded state. The hydraulic motor a1-4 in the transport guide rail 1 drives the gear 1-3, so that the robot moves along the I-beam 1-1 to above the tool transport hole 9.

[0051] Step 13: Rotate the swing cylinder d4-3 clockwise 90°, the swing cylinder e5-1 counterclockwise 180°, and the swing cylinder f6-1 counterclockwise 60° to move the old hob out of the tool transport hole 9. Then, clamp the new hob and install the new hob. The process of installing the new hob is the exact opposite of the process of removing the old hob.

[0052] Step Fourteen: After the new hob is installed, the robot transforms into... Figure 12 The machine moves to the standby area in the folded state shown, waiting for the next cutter replacement.

[0053] The above embodiments are only for illustrating the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand the content of the present invention and implement it accordingly. They should not be construed as limiting the scope of protection of the present invention. All equivalent changes or modifications made in accordance with the spirit and essence of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A foldable tool changing robot suitable for TBM hobbing tool replacement, characterized in that, The foldable tool-changing robot includes a transport rail (1), a body, and an end effector (7); the body is connected to the transport rail (1) and includes a first robotic arm (2), a second robotic arm (3), a third robotic arm (4), a fourth robotic arm (5), and a fifth robotic arm (6); the transport rail (1) is connected to the end effector (7) through the first robotic arm (2), the second robotic arm (3), the third robotic arm (4), the fourth robotic arm (5), and the fifth robotic arm (6); the end effector (7) includes a gripper drive mechanism, a sleeve drive mechanism, and a lateral ejection mechanism; The transport guide rail (1) includes an I-beam (1-1), a rack (1-2), a gear (1-3), a hydraulic motor a (1-4), a base (1-5), a base plate (1-6), a T-shaped roller (1-7), and connecting bolts (1-8); the I-beam (1-1) is suspended in the main beam space 8) on the back of the TBM cutter head (10), the rack (1-2) is fixed to the lower side of the upper flange of the I-beam (1-1), and the gear (1-3) is fixed on the splined shaft of the hydraulic motor a (1-4) and connected to the rack (1-8). 2) They mesh with each other. The hydraulic motor a (1-4) is fixedly connected to the support platform of the base (1-5). The base (1-5) is fixed on the base plate (1-6). The base (1-5) includes a support platform and a support plate spaced apart from it. The support platform and the support plate are respectively connected to a set of T-shaped rollers (1-7) by connecting bolts (1-8). There are two sets of T-shaped rollers (1-7). The two sets of T-shaped rollers (1-7) are located on both sides of the I-beam (1-1) and can roll along the upper side of the lower flange of the I-beam (1-1). The first robotic arm (2) includes a swing cylinder a (2-1), a front end (2-2), a middle end (2-3), and a rear end (2-4). The base of the swing cylinder a (2-1) is installed on the bottom plate (1-6) of the transport guide rail (1). The front end (2-2) of the first robotic arm has a U-shaped structure and is connected to both ends of the swing cylinder a (2-1) by flanges. The front end (2-2) and the middle end (2-3) of the first robotic arm are fixedly connected by welding. The middle end (2-3) and the rear end (2-4) of the first robotic arm are fixedly connected by welding. A flange hole is opened on the rear end (2-4) of the first robotic arm.

2. The foldable tool changing robot for TBM hobbing tool replacement according to claim 1, characterized in that, The second robotic arm (3) includes a front end (3-1), a hydraulic cylinder a (3-2), a connecting rod a (3-3), a flange (3-4), a swing cylinder b (3-5), a support (3-6), an electromagnet (3-7), a pin a (3-8), a connecting rod b (3-9), and a rear end (3-10). One end of the front end (3-1) of the second robotic arm has a flange hole, which mates with a flange on one side of the swing cylinder b (3-5). The other flange of the swing cylinder b (3-5) mates with a flange hole on the rear end (2-4) of the first robotic arm. The rear end (3-10) of the second robotic arm is a hollow structure. One end of the front end (3-1) of the second robotic arm is connected to one end of the rear end (3-10), and the other end of the rear end (3-10) is connected to the flange (3-4). The hydraulic cylinder a (3-2) is mounted on... The cylinder body of hydraulic cylinder a (3-2) is connected to the lifting lug of the second robotic arm rear end (3-10) by a pin. Connecting rod a (3-3) is connected to the piston rod of the second robotic arm rear end (3-10), hydraulic cylinder a (3-2), and one end of connecting rod b (3-9) by a pin. The other end of connecting rod b (3-9) is connected to the lifting lug on one side of support (3-6). Electromagnet (3-7) is fixed to the bottom of support (3-6). The upper part of support (3-6) has a hole for connecting to the second robotic arm rear end (3-10). The upper hole of support (3-6) is connected to the second robotic arm rear end (3-10) by pin a (3-8). Support (3-6) can rotate around the axis of pin a (3-8) and rotate out and back into the second robotic arm rear end (3-10) under the drive of hydraulic cylinder a (3-2).

3. The foldable tool changing robot for TBM hobbing tool replacement according to claim 2, characterized in that, The third robotic arm (4) includes a swing cylinder c (4-1), a connecting plate a (4-2), a swing cylinder d (4-3), a rear end (4-4), a middle end (4-5), and a front end (4-6). The flange on one side of the swing cylinder c (4-1) is connected to the flange (3-4) in the second robotic arm (3). The base of the swing cylinder c (4-1) is fixedly connected to the connecting plate a (4-2). The connecting plate a (4-2) is connected to the base of the swing cylinder d (4-3). The flanges on both sides of the swing cylinder d (4-3) are connected to the U-shaped front end (4-6) of the third robotic arm. The front end (4-6) of the third robotic arm and the middle end (4-5) of the third robotic arm are fixedly connected by welding. The middle end (4-5) of the third robotic arm and the rear end (4-4) of the third robotic arm are fixedly connected by welding. The rear end (4-4) of the third robotic arm has a flange hole.

4. The foldable tool changing robot for TBM hobbing tool replacement according to claim 3, characterized in that, The fourth robotic arm (5) includes a swing cylinder e (5-1), a front end (5-2), a middle end (5-3), and a rear end (5-4); one side flange of the swing cylinder e (5-1) is connected to the flange hole of the rear end (4-4) of the third robotic arm; the other side flange of the swing cylinder e (5-1) is connected to the front end (5-2) of the fourth robotic arm, the front end (5-2) of the fourth robotic arm and the middle end (5-3) of the fourth robotic arm are fixedly connected by welding, the middle end (5-3) of the fourth robotic arm and the rear end (5-4) of the fourth robotic arm are fixedly connected by welding, and the rear end (5-4) of the fourth robotic arm has a flange hole.

5. The foldable tool changing robot for TBM hobbing tool replacement according to claim 4, characterized in that, The fifth robotic arm (6) includes a swing cylinder f (6-1), a fifth robotic arm front end (6-2), a fifth robotic arm rear end (6-3), a swing cylinder g (6-4), a connecting plate b (6-5), and a swing cylinder h (6-6). One side flange of the swing cylinder f (6-1) is connected to the flange hole of the fourth robotic arm rear end (5-4), and the other side flange is connected to the fifth robotic arm front end (6-2). The fifth robotic arm front end (6-2) and the fifth robotic arm rear end (6-3) are fixedly connected by welding. The fifth robotic arm rear end (6-3) is connected to one side flange of the swing cylinder g (6-4). The other side flange of the swing cylinder g (6-4) is connected to one side of the connecting plate b (6-5), and the other side of the connecting plate b (6-5) is connected to the base of the swing cylinder h (6-6).

6. The foldable tool changing robot for TBM hobbing tool replacement according to claim 5, characterized in that, The gripper drive mechanism includes a hydraulic cylinder b (7-3), a pin b (7-2), a pin c (7-4), a pin d (7-5), and a gripper (7-6). The gripper drive mechanism is a symmetrical structure. There are two grippers (7-6), two hydraulic cylinders b (7-3), two pins b (7-2), two pins c (7-4), and two pins d (7-5) arranged symmetrically. The cylinder body of the hydraulic cylinder b (7-3) is connected to the reserved hole of the end box (7-1) through the pin b (7-2) and can rotate around the central axis of the pin b (7-2). The connecting rod of the hydraulic cylinder b (7-3) is connected to the gripper (7-6) through the pin c (7-4) and can rotate around the central axis of the pin c (7-4). The gripper (7-6) is connected to the end box (7-1) through the pin d (7-5).

7. The foldable tool changing robot for TBM hobbing tool replacement according to claim 6, characterized in that, The sleeve drive mechanism includes a hydraulic motor b (7-9), a universal coupling (7-10), a torque amplifier (7-11), and a sleeve (7-12). The sleeve drive mechanism is a symmetrical structure, with two hydraulic motors b (7-9), universal couplings (7-10), torque amplifiers (7-11), and sleeves (7-12) arranged symmetrically. The hydraulic motor b (7-9) is fixed on the end housing (7-1), and the input shaft of the torque amplifier (7-11) is connected to the spline shaft of the hydraulic motor b (7-9) through the universal coupling (7-10). The rear side of the sleeve (7-12) is fixed on the output shaft of the torque amplifier.

8. The foldable tool changing robot for TBM hobbing tool replacement according to claim 7, characterized in that, The lateral ejection mechanism includes a hydraulic cylinder c (7-8) and a roller (7-7); the cylinder body of the hydraulic cylinder c (7-8) is fixed inside the end box (7-1), the connecting rod of the hydraulic cylinder c (7-8) is connected to the roller (7-7), and the hydraulic cylinder c (7-8) extends out from the side opening of the end box (7-1) during operation, and pushes the roller (7-7) against the inner wall of the tool box.

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