Five-degree-of-freedom hydraulic drive robot for replacing hobbing cutter of full-section hard rock tunnel boring machine

Abstract

The invention belongs to the technical field of tunneling construction equipment, and discloses a five-degree-of-freedom hydraulic drive robot for replacing a hobbing cutter of a full-section hard rock tunneling machine, which comprises a transportation guide rail, an end effector and a five-degree-of-freedom robot body, the transportation guide rail is fixed to a floor of a TBM internal robot installation space through the guide rail supporting piece and the main beam supporting piece. The five-degree-of-freedom robot body is fixed on a robot mounting base of the transportation guide rail 1 through a robot fixing plate; the end effector is connected with a fifth joint spiral swinging oil cylinder of the five-degree-of-freedom robot body through a gear box; the end effector comprises a clamping jaw driving mechanism and a sleeve driving mechanism. The five-degree-of-freedom hydraulic drive robot is simple in installation process and suitable for being installed in the narrow space in the TBM; and on the safety performance, a traditional manual mode is replaced, the TBM hob is replaced through the robot, and the construction safety is greatly improved.

Description

Technical Field

[0001] The invention belongs to the technical field of tunnel boring construction equipment, and relates to a five-degree-of-freedom hydraulic-driven robot for replacing cutters of a full-face hard rock tunnel boring machine. Background Art

[0002] The full-face hard rock tunnel boring machine is abbreviated as TBM. It uses the cutters on the rotating cutter head to extrude and shear the rock, picks up the rock slag through the buckets on the rotating cutter head, drops it onto the main machine belt conveyor and conveys it backward, and then transports the slag to the outside of the tunnel through the traction slag truck or the tunnel continuous belt conveyor. Among them, the cutters installed on the TBM cutter head are key vulnerable parts. The frequent wear of the TBM cutters greatly affects the cost of TBM construction, hinders the construction efficiency, and slows down the construction speed. At present, the main method for replacing cutters in TBM is still manual cutter replacement, which has the problems of high incidence of safety accidents, low cutter replacement efficiency and high cutter replacement cost. According to statistics, the time ratio of manual cutter replacement to the total construction time can reach 4% - 26%. At present, as an important part of the automation field, robots are expanding in more and more fields and developing faster and faster. It is very necessary to introduce robots into the TBM cutter replacement field to achieve unmanned cutter replacement.

[0003] To ensure the TBM construction efficiency, protect the lives of construction personnel, and improve the economy of TBM construction, a five-degree-of-freedom hydraulic-driven cutter replacement robot for TBM is designed. Summary of the Invention

[0004] The purpose of the invention is to provide a five-degree-of-freedom hydraulic-driven robot for replacing cutters of a full-face hard rock tunnel boring machine (TBM). Applying it to TBM can achieve unmanned cutter replacement, thereby improving the construction speed of TBM, reducing the cost of TBM construction, and protecting the lives of construction participants.

[0005] The technical solution of the invention:

[0006] A five-degree-of-freedom hydraulic-driven robot for replacing cutters of a full-face hard rock tunnel boring machine includes a transportation guide rail 1, an end effector 2 and a five-degree-of-freedom robot body 3; the transportation guide rail 1 is fixed on the floor of the robot installation space inside the TBM through a guide rail support 1-4 and a main beam support 1-7; the five-degree-of-freedom robot body 3 is fixed on the robot installation base 1-2 of the transportation guide rail 1 through a robot fixing plate 3-1; the end effector 2 is connected to the fifth joint screw swing oil cylinder 3-9 of the five-degree-of-freedom robot body 3 through a gear box 2-4; the end effector 2 includes a jaw driving mechanism and a sleeve driving mechanism.

[0007] The described transportation guide rail 1 includes a counterweight 1-1, a robot mounting base 1-2, a robot body support 1-3, a guide rail support 1-4, a roller track 1-5, a rack 1-6, a main beam support 1-7, a gear 1-8, an end cover 1-9, a gear drive connecting shaft 1-10, a vertical pedestal bearing 1-11, a reducer coupling 1-12, a hydraulic motor 1-13, a hydraulic motor coupling 1-14, a worm and gear reducer 1-15, and a roller 1-16; the counterweight 1-1 and the robot mounting base 1-2 are fixed on the robot body support 1-3; the robot body support 1-3 is fixed in the roller track 1-5 through the rollers 1-16 symmetrically distributed on both sides; the roller track 1-5 is an I-beam and is fixedly connected to the guide rail support 1-4 and the main beam support 1-7 located below the roller track 1-5; the guide rail support 1-4 and the main beam support 1-7 are both fixed on the floor of the robot installation space inside the TBM; the rack 1-6 is fixed on the upper side of the roller track 1-5; the hydraulic motor 1-13 is fixed inside the robot mounting base 1-2; the worm and gear reducer 1-15 is connected to the hydraulic motor 1-13 through the hydraulic motor coupling 1-14; a pair of gear drive connecting shafts 1-10 are symmetrically distributed on both sides of the worm and gear reducer 1-15, one end of which is connected to the worm and gear reducer 1-15 through the reducer coupling 1-12 and is fixed inside the robot mounting base 1-2 through a pair of vertical pedestal bearings 1-11 and a pair of end covers 1-9 symmetrically distributed with respect to the worm and gear reducer 1-15; the gear 1-8 is connected to the other end of the gear drive connecting shaft 1-10 and meshes with the rack 1-6, and is symmetrically distributed on both sides of the robot mounting base 1-2.

[0008] The described jaw drive mechanism includes jaws 2-1, jaw connecting plates 2-2, first-stage end telescopic arms 2-3, gearboxes 2-4, second-stage end telescopic arms 2-7, and end jaw cylinders 2-8; the jaw drive mechanism is a symmetric structure, and the jaws 2-1, first-stage end telescopic arms 2-3, second-stage end telescopic arms 2-7, and end jaw cylinders 2-8 are all two and symmetrically arranged; the first-stage end telescopic arms 2-3 are symmetrically fixed on both sides of the gearbox 2-4; the second-stage end telescopic arms 2-7 are fixed inside the first-stage end telescopic arms 2-3 and can slide along the inside of the first-stage end telescopic arms 2-3; the jaw connecting plates 2-2 are fixed on the second-stage end telescopic arms 2-7; a pair of jaws 2-1 are provided with pin holes and are symmetrically distributed on both sides of the jaw connecting plates 2-2 through pins; both ends of the end jaw cylinders 2-8 are provided with pin holes, one end is fixed to the jaw connecting plates 2-2 through a pin, and the other end is connected to the jaws 2-1 through a pin; a pair of end jaw cylinders 2-8 drive the opening and closing of a pair of jaws 2-1.

[0009] The sleeve drive mechanism described above includes a large gear bearing end cover 2-5, a sleeve front cover 2-6, a cylindrical roller bearing 2-9, a deep groove ball bearing 2-10, a pinion bearing seat 2-11, a reducer large gear 2-12, a wrench mandrel 2-13, a sleeve outer wall 2-14, a QJM hydraulic motor 2-15, a reducer pinion 2-16, and a compression spring 2-17; the sleeve drive mechanism is a symmetric structure, and the large gear bearing end cover 2-5, the sleeve front cover 2-6, the cylindrical roller bearing 2-9, the reducer large gear 2-12, the wrench mandrel 2-13, the sleeve outer wall 2-14, and the compression spring 2-17 are all two and symmetrically arranged; the reducer pinion 2-16 is connected to the QJM hydraulic motor 2-15 by a shaft key and is fixed to the gearbox 2-4 together with the deep groove ball bearing 2-10 and the pinion bearing seat 2-11; the inner side of the sleeve outer wall 2-14 is connected to the wrench mandrel 2-13 by a spline, is fixed inside the gearbox 2-4 by the cylindrical roller bearing 2-9, and is assembled with the reducer large gear 2-12 by a spline connection. The reducer large gears 2-12 are symmetrically distributed on both sides of the reducer pinion 2-16 and mesh with each other. The compression spring 2-17 is sleeved on the wrench mandrel 2-13. When the wrench mandrel 2-13 moves axially, the compression spring 2-17 provides shock absorption and the function of restoring to the original position.

[0010] The described five-degree-of-freedom robot body 3 includes a robot fixed plate 3-1, a hydraulic cylinder 3-2, a robot big arm 3-3, a robot small arm 3-4, a third-joint spiral swing cylinder 3-5, a wrist mechanism one 3-6, a fourth-joint spiral swing cylinder 3-7, a wrist mechanism two 3-8, a fifth-joint spiral swing cylinder 3-9, and a second-joint spiral swing cylinder 3-10; both ends of the hydraulic cylinder 3-2 are provided with pin holes, one end is connected to the robot fixed plate 3-1 by a pin, and the other end is connected to the robot big arm 3-3 by a pin; a flange hole is provided on one side of the robot big arm 3-3 and is connected to the robot fixed plate 3-1 by a pin; the second-joint spiral swing cylinder 3-10 is fixed to the other end of the robot big arm 3-3; a flange plate is provided on one side of the robot small arm 3-4 and is connected to the second-joint spiral swing cylinder 3-10 by a flange; the third-joint spiral swing cylinder 3-5 is fixed to the other side of the robot small arm 3-4; a flange plate is provided on one side of the wrist mechanism one 3-6 and is connected to the third-joint spiral swing cylinder 3-5 by a flange; the fourth-joint spiral swing cylinder 3-7 is fixed to the other side of the wrist mechanism one 3-6; a flange plate is provided on one side of the wrist mechanism two 3-8 and is connected to the fourth-joint spiral swing cylinder 3-7 by a flange; the fifth-joint spiral swing cylinder 3-9 is fixed to the other side of the wrist mechanism two 3-8; further, the robot big arm 3-3 is driven by the hydraulic cylinder 3-2, and the remaining components are driven by the connected spiral hydraulic swing cylinders.

[0011] The beneficial effects of the present invention:

[0012] (1) The technical solution provided by the present invention is applicable to the narrow space inside the TBM. It can be contracted and expanded under the cooperation of mechanical joints and swing cylinders. In the working state, after expansion, a large working space can be achieved. In the shutdown state, it can be contracted and folded and docked at the rear side of the TBM main beam, saving the working space.

[0013] (2) The end effector designed for the new tool system of the present invention integrates two functions of grasping the hob and removing bolts, and is applicable to the new integrated tool system, which can effectively cooperate with the tool-changing robot body to realize the rapid removal of bolts and the process of hob replacement.

[0014] (3) The robot joints designed in the present invention are all driven by hydraulic cylinders or hydraulic motors, with large driving force or driving torque and high end-load bearing capacity. Moreover, the square robotic arm and hydraulic drive make the volume of the robot smaller than that of the electric-driven robot, occupying less space in the shield machine, making it more convenient for the robot to be controlled and for the staff to move around. Brief Description of the Drawings

[0015] Figure 1 is the schematic diagram of the overall structure of the present invention;

[0016] Figure 2 is the schematic diagram of the transport guide rail;

[0017] Figure 3 is the schematic diagram of the components of the robot mounting base;

[0018] Figure 4 is the rear view of the transport guide rail;

[0019] Figure 5 is the schematic diagram of the end effector applicable to the new tool system;

[0020] Figure 6 is the schematic diagram of the components of the end effector gearbox;

[0021] Figure 7 is the schematic diagram of the components of the robot body;

[0022] Figure 8 is the schematic diagram of the working state when the actuator telescopic arm extends to grasp the hob;

[0023] Figure 9 is the schematic diagram of the working state when the robot replaces the hob;

[0024] In the figure: 1 - transportation guide rail; 2 - end effector; 3 - five - degree - of - freedom robot body; 1 - 1 - counterweight; 1 - 2 - robot mounting base; 1 - 3 - robot body support; 1 - 4 - guide rail support; 1 - 5 - roller track; 1 - 6 - rack; 1 - 7 - main beam support; 1 - 8 - gear; 1 - 9 end cover; 1 - 10 gear drive connecting shaft; 1 - 11 pedestal bearing; 1 - 12 reducer coupling; 1 - 13 hydraulic motor; 1 - 14 hydraulic motor coupling; 1 - 15 worm and worm gear reducer; 1 - 16 roller; 2 - 1 jaw; 2 - 2 jaw connecting plate; 2 - 3 first - stage end telescopic arm; 2 - 4 gear box; 2 - 5 large - gear bearing end cover; 2 - 6 sleeve front cover; 2 - 7 second - stage end telescopic arm; 2 - 8 end jaw oil cylinder; 2 - 9 cylindrical roller bearing; 2 - 10 deep - groove ball bearing; 2 - 11 small - gear bearing seat; 2 - 12 reducer large gear; 2 - 13 wrench mandrel; 2 - 14 sleeve outer wall; 2 - 15 QJM hydraulic motor; 2 - 16 reducer small gear; 2 - 17 compression spring; 3 - 1 robot fixing plate; 3 - 2 hydraulic cylinder; 3 - 3 robot big arm; 3 - 4 robot small arm; 3 - 5 third - joint spiral swing oil cylinder; 3 - 6 wrist mechanism one; 3 - 7 fourth - joint spiral swing oil cylinder; 3 - 8 wrist mechanism two; 3 - 9 fifth - joint spiral swing oil cylinder; 3 - 10 second - joint spiral swing oil cylinder. Detailed implementation manners

[0025] The following further illustrates the detailed implementation manners of the present invention in combination with the accompanying drawings and technical solutions.

[0026] The five - degree - of - freedom hydraulic - driven tool - changing robot provided by the present invention includes a robot transportation guide rail, a five - degree - of - freedom robot body, and an end effector applicable to a new tool system.

[0027] In this embodiment, the robot transportation guide rail 1 includes a counterweight 1-1, a robot mounting base 1-2, a robot body support 1-3, a guide rail support 1-4, a roller track 1-5, a rack 1-6, a main beam support 1-7, a gear 1-8, an end cover 1-9, a gear drive connecting shaft 1-10, a vertical seat bearing 1-11, a reducer coupling 1-12, a hydraulic motor 1-13, a hydraulic motor coupling 1-14, a worm and gear reducer 1-15, and a roller 1-16. The hydraulic motor 1-13, the worm and gear reducer 1-15, the gear drive connecting shaft 1-10, and the vertical seat bearing 1-11 are all installed inside the hollow robot mounting base 1-2, where the gear drive connecting shaft 1-10 and the vertical seat bearing 1-11 are symmetrically distributed on both sides of the worm and gear reducer 1-15. When the hydraulic motor 1-13 works, it is transmitted to the gear drive connecting shafts 1-10 on both sides through the worm and gear reducer 1-15, driving the rotation of the gears 1-8 on both sides. Since the gears 1-8 and the rack 1-6 are engaged together, the rotation of the gears 1-8 can drive the robot body to move forward or backward.

[0028] In this embodiment, the end effector includes a jaw 2-1, a jaw connecting plate 2-2, a first-stage end telescopic arm 2-3, a gearbox 2-4, a large gear bearing end cover 2-5, a sleeve front cover 2-6, a second-stage end telescopic arm 2-7, an end jaw oil cylinder 2-8, a cylindrical roller bearing 2-9, a deep groove ball bearing 2-10, a small gear bearing seat 2-11, a reducer large gear 2-12, a wrench mandrel 2-13, a sleeve outer wall 2-14, a QJM hydraulic motor 2-15, a reducer small gear 2-16, and a compression spring 2-17. After the hydraulic motor 2-15 works, it is transmitted to the reducer large gears 2-12 meshing symmetrically on both sides through the reducer small gear 2-16 directly key-connected to its shaft, and the rotation of the wrench mandrel 2-13 is realized through the spline of the reducer large gear 2-12, thereby realizing the rotation of the tool system screw for installing the hob, and carrying out the installation and disassembly of the hob. A pair of hydraulic cylinders built in the first-stage end telescopic arm 2-3 drive the elongation and shortening of the telescopic arms 2-3 and 2-7, realizing the movement of the jaw 2-1. Another pair of hydraulic cylinders 2-8 realize the clamping and loosening of the hob by the jaw 2-1. The end effector cooperates with the new tool system for installing the hob, and the installation and disassembly of the hob in the TBM can be realized.

[0029] In this embodiment, the five-degree-of-freedom robot body includes a robot fixing plate 3-1, a hydraulic cylinder 3-2, a robot big arm 3-3, a robot small arm 3-4, a third-joint spiral swing cylinder 3-5, a wrist mechanism one 3-6, a fourth-joint spiral swing cylinder 3-7, a wrist mechanism two 3-8, a fifth-joint spiral swing cylinder 3-9, and a second-joint spiral swing cylinder 3-10; both the wrist mechanism one 3-6 and the wrist mechanism two 3-8 are connected by spiral swing cylinders, and the relative movement between the robot big arm 3-3 and the robot fixing plate 3-1 is driven by a hydraulic cylinder. With the cooperation of each hydraulic component, the motion control of the robot body can be achieved.

[0030] The following describes the tool changing process of the present invention with reference to the accompanying drawings.

[0031] The process of disassembling the damaged hob is as follows:

[0032] Step 1: This robot body ( Figure 7 ) is matched with the transportation guide rail 1 ( Figure 2 ) through the robot mounting base 1-2 and is matched with the end effector 2 ( Figure 5 ) through the spiral swing cylinder 3-9. After path planning by the robot control system, it first needs to move forward under the drive of the hydraulic motor 1-15 to reach the specified tool changing position;

[0033] Step 2: The robot obtains the position of the hob to be disassembled and completes path planning and trajectory planning under the operation of the control system.

[0034] Step 3: Each joint of the robot completes attitude transformation driven by the third-joint spiral swing cylinder 3-5, the fourth-joint spiral swing cylinder 3-7, the fifth-joint spiral swing cylinder 3-9, the second-joint spiral swing cylinder 3-10, and the hydraulic cylinder 3-2, and a pair of wrench spindles 2-13 of the end effector 2 are aligned with a pair of screw rods of the integrated tool system.

[0035] Step 4: Driven by the hydraulic motor 1-13, the robot body slews a pair of wrench spindles 2-13 of the end effector 2 onto a pair of screw rods in the integrated tool system. Driven by the hydraulic motor 2-15 and through the action of the reducer, the wrench spindles 2-13 rotate to drive the rotation of the screw rods. When the screw rods rotate to a certain position, the hob changes from a fixed state to a detachable state;

[0036] Step 5: The hydraulic cylinder drives the first-stage end telescopic arm 2-3 and the second-stage end telescopic arm 2-7 to extend, and a pair of clamping jaws 2-1 extend. Under the action of another pair of hydraulic cylinders 3-2, a pair of clamping jaws 2-1 clamp the hob, and then the first-stage end telescopic arm 2-3 and the second-stage end telescopic arm 2-7 retract to achieve the disassembly of the hob (as Figure 8 )

[0037] Step 6: The robot places the removed hob in the hob transportation mechanism through path planning, and the removed hob is transported out of the shield machine through the transportation mechanism;

[0038] Step 7: After the robot sends out the removed hob, it calculates the motion laws of each joint through path planning and sends them to the controller to drive the hydraulic cylinder and the spiral swing cylinder to move and return to the initial posture;

[0039] Step 8: The robot control system outputs an instruction to drive the rotation of hydraulic motors 1-15 to realize the backward movement of the robot, reach the initial position, and complete the removal of the old hob.

[0040] The process of installing a new hob is as follows:

[0041] Step 1: The hob transportation mechanism first completes the transportation of the new hob. After the robot receives the new hob arrival instruction, it obtains the position of the hob;

[0042] Step 2: The data of the hob position is input into the robot controller, and the robot controller calculates to obtain the motion laws required for each joint of the robot and the robot body;

[0043] Step 3: The controller outputs a control signal to control the hydraulic motors 1-15 to drive the robot mounting base 1-2, the spiral swing cylinder 3-5 of the third joint, the spiral swing cylinder 3-7 of the fourth joint, the spiral swing cylinder 3-9 of the fifth joint, the spiral swing cylinder 3-10 of the second joint, and the hydraulic cylinder 3-2 to work, so that the end effector of the robot can clamp the new hob;

[0044] Step 4: After the robot clamps the new hob, it obtains the motion laws of each joint of the robot through path planning based on the position of the removed hob saved in the system by the controller;

[0045] Step 5: The controller outputs a control signal to first drive the hydraulic motors 1-13 to rotate, so that the robot body reaches the specified position, and then drives the spiral swing cylinder 3-5 of the third joint, the spiral swing cylinder 3-7 of the fourth joint, the spiral swing cylinder 3-9 of the fifth joint, the spiral swing cylinder 3-10 of the second joint, and the hydraulic cylinder 3-2 to move, realizing the posture transformation of the robot, so that the end effector aligns with the integrated tool system installed on the cutter head;

[0046] Step 6: The hydraulic cylinder drives the first-stage end telescopic arm 2-3 and the second-stage end telescopic arm 2-7 to extend, and a pair of clamping jaws 2-1 extend. Under the action of the hydraulic cylinder 3-2, a pair of clamping jaws 2-1 release the hob, and then the first-stage end telescopic arm 2-3 and the second-stage end telescopic arm 2-7 retract to complete the hob installation;

[0047] Step Seven: Driven by the hydraulic motor 1-15, the robot body sleevs a pair of wrench spindles 2-13 of the end effector 2 on a pair of screws in the integrated tool system. Driven by the hydraulic motor 2-15 and through the action of the reducer, the wrench spindles 2-13 rotate to drive the rotation of the screws. After the integrated tool system rotates the screws, the hob changes from the detachable state to the fixed state;

[0048] Step Eight: After the robot installs the new hob, it calculates the motion laws of each joint through path planning, sends them to the controller to drive the hydraulic cylinder and the spiral swing cylinder to move, and returns to the initial posture;

[0049] Step Nine: The robot control system outputs instructions to drive the rotation of the hydraulic motor 1-15, realizes the backward movement of the robot, reaches the initial position, and completes the installation of the new hob.

Claims

1. A five-degree-of-freedom hydraulic-driven robot for the cutterhead replacement of a full-face hard rock tunnel boring machine, characterized in that The five-degree-of-freedom hydraulic-driven robot includes a transportation guide rail (1), an end effector (2), and a five-degree-of-freedom robot body (3); the transportation guide rail (1) is fixed to the floor of the robot installation space inside the TBM through a guide rail support (1-4) and a main beam support (1-7); the five-degree-of-freedom robot body (3) is fixed to the robot installation base (1-2) of the transportation guide rail (1) through a robot fixing plate (3-1); the end effector (2) is connected to the fifth joint screw swing cylinder (3-9) of the five-degree-of-freedom robot body (3) through a gearbox (2-4); the end effector (2) includes a jaw driving mechanism and a sleeve driving mechanism.

2. The five-degree-of-freedom hydraulic-driven robot according to claim 1, characterized in that, The described transportation guide rail (1) includes a counterweight (1-1), a robot installation base (1-2), a robot body support (1-3), a guide rail support (1-4), a roller track (1-5), a rack (1-6), a main beam support (1-7), a gear (1-8), an end cover (1-9), a gear driving connection shaft (1-10), a pedestal bearing with vertical seat (1-11), a reducer coupling (1-12), a hydraulic motor (1-13), a hydraulic motor coupling (1-14), a worm and worm gear reducer (1-15), and rollers (1-16); the counterweight (1-1) and the robot installation base (1-2) are fixed on the robot body support (1-3); the robot body support (1-3) is fixed in the roller track (1-5) through rollers (1-16) symmetrically distributed on both sides; the roller track (1-5) is an I-beam and is fixedly connected to the guide rail support (1-4) and the main beam support (1-7) located below the roller track (1-5); the guide rail support (1-4) and the main beam support (1-7) are both fixed to the floor of the robot installation space inside the TBM; the rack (1-6) is fixed to the upper side of the roller track (1-5); the hydraulic motor (1-13) is fixed inside the robot installation base (1-2); the worm and worm gear reducer (1-15) is connected to the hydraulic motor (1-13) through the hydraulic motor coupling (1-14); a pair of gear driving connection shafts (1-10) are symmetrically distributed on both sides of the worm and worm gear reducer (1-15), one end of which is connected to the worm and worm gear reducer (1-15) through the reducer coupling (1-12) and is fixed inside the robot installation base (1-2) through a pair of pedestal bearings with vertical seat (1-11) symmetrically distributed with respect to the worm and worm gear reducer (1-15) and a pair of end covers (1-9); the gear (1-8) is connected to the other end of the gear driving connection shaft (1-10) and meshes with the rack (1-6), and is symmetrically distributed on both sides of the robot installation base (1-2).

3. The five-degree-of-freedom hydraulic-driven robot according to claim 1, characterized in that, The described jaw driving mechanism includes jaws (2-1), jaw connecting plates (2-2), primary end telescopic arms (2-3), a gearbox (2-4), secondary end telescopic arms (2-7), and end jaw cylinders (2-8); the jaw driving mechanism is a symmetric structure, and there are two jaws (2-1), primary end telescopic arms (2-3), secondary end telescopic arms (2-7), and end jaw cylinders (2-8), which are symmetrically arranged; the primary end telescopic arms (2-3) are symmetrically fixed on both sides of the gearbox (2-4); the secondary end telescopic arms (2-7) are fixed inside the primary end telescopic arms (2-3) and can slide along the inside of the primary end telescopic arms (2-3); the jaw connecting plates (2-2) are fixed on the secondary end telescopic arms (2-7); a pair of jaws (2-1) are provided with pin shafts holes and are symmetrically distributed on both sides of the jaw connecting plates (2-2) through pins; both ends of the end jaw cylinders (2-8) are provided with pin shafts holes, one end is fixed to the jaw connecting plates (2-2) through a pin shaft, and the other end is connected to the jaws (2-1) through a pin shaft; a pair of end jaw cylinders (2-8) drive the opening and closing of a pair of jaws (2-1).

4. The five-degree-of-freedom hydraulic-driven robot according to claim 1, characterized in that, The described sleeve driving mechanism includes large gear bearing end covers (2-5), sleeve front covers (2-6), cylindrical roller bearings (2-9), deep groove ball bearings 2-10, small gear bearing seats 2-11, reducer large gears (2-12), wrench mandrels (2-13), sleeve outer walls (2-14), QJM hydraulic motors (2-15), reducer small gears (2-16), and compression springs (2-17); the sleeve driving mechanism is a symmetric structure, and there are two large gear bearing end covers (2-5), sleeve front covers (2-6), cylindrical roller bearings (2-9), reducer large gears (2-12), wrench mandrels (2-13), sleeve outer walls (2-14), and compression springs (2-17), which are symmetrically arranged; the reducer small gears (2-16) are connected to the QJM hydraulic motors (2-15) through shaft keys and are fixed to the gearbox (2-4) together with the deep groove ball bearings 2-10 and small gear bearing seats 2-11; the inner side of the sleeve outer walls (2-14) is connected to the wrench mandrels (2-13) through splines, is fixed inside the gearbox (2-4) through cylindrical roller bearings (2-9), and is assembled with the reducer large gears (2-12) through spline connections. The reducer large gears (2-12) are symmetrically distributed on both sides of the gear reducer small gears (2-16) and mesh with each other. The compression springs (2-17) are sleeved on the wrench mandrels (2-13), and when the wrench mandrels (2-13) move axially, the compression springs (2-17) provide shock absorption and the function of restoring to the original position.

5. The five-degree-of-freedom hydraulic-driven robot according to claim 1, characterized in that The described five-degree-of-freedom robot body (3) includes a robot fixing plate (3-1), a hydraulic cylinder (3-2), a robot big arm (3-3), a robot small arm (3-4), a third-joint spiral swing cylinder (3-5), a wrist mechanism one (3-6), a fourth-joint spiral swing cylinder (3-7), a wrist mechanism two (3-8), a fifth-joint spiral swing cylinder (3-9), and a second-joint spiral swing cylinder (3-10); both ends of the hydraulic cylinder (3-2) are provided with pin shafts holes, one end is connected to the robot fixing plate (3-1) through a pin shaft, and the other end is connected to the robot big arm (3-3) through a pin shaft; a flange hole is provided on one side of the robot big arm (3-3), and it is connected to the robot fixing plate (3-1) through a pin shaft; the second-joint spiral swing cylinder (3-10) is fixed to the other end of the robot big arm (3-3); a flange is provided on one side of the robot small arm (3-4), and it is connected to the second-joint spiral swing cylinder (3-10) through a flange; the third-joint spiral swing cylinder (3-5) is fixed to the other side of the robot small arm (3-4); a flange is provided on one side of the wrist mechanism one (3-6), and it is connected to the third-joint spiral swing cylinder (3-5) through a flange; the fourth-joint spiral swing cylinder (3-7) is fixed to the other side of the wrist mechanism one (3-6); a flange is provided on one side of the wrist mechanism two (3-8), and it is connected to the fourth-joint spiral swing cylinder (3-7) through a flange; the fifth-joint spiral swing cylinder (3-9) is fixed to the other side of the wrist mechanism two (3-8); further, the robot big arm (3-3) is driven by the hydraulic cylinder (3-2), and the remaining components are driven by the connected spiral hydraulic swing cylinders.

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