Transportation guide rail for TBM hob replacement robot

Abstract

The invention belongs to the technical field of tunneling construction equipment, and discloses a transportation guide rail for a TBM hob replacement robot, and an end effector is matched with a robot body for use to realize unmanned cutter replacement of a shield tunneling machine, so that the construction speed of the shield tunneling machine is increased, the construction cost of the shield tunneling machine is reduced, and the life safety of construction participants is guaranteed. In order to realize the above functions, the robot end effector provided by the invention comprises a mounting support and a moving mechanism.

Description

Technical Field

[0001] The present invention belongs to the technical field of tunnel boring construction equipment, and relates to a transport guide rail for a TBM cutter changing robot. Background Art

[0002] TBM, also known as a tunnel boring machine, refers to a construction method of excavating a tunnel with a boring machine. It has the advantages of being fast, efficient, safe and reliable, good construction quality, low cost, etc., and integrates technologies such as machinery, electronics, hydraulics, lasers, and control, achieving a high degree of mechanization and automation. As the most advanced large-scale underground tunnel excavation and lining complete equipment at present, it has been widely used. During the working process of the TBM, it mainly relies on the cutters installed at its front end to make them closely adhere to the rock surface through thrust, so as to achieve extrusion and cutting of the rock. The cutters in the TBM are directly in contact with the complex geological environment and bear strong impact loads, so they are extremely easy to wear and damage. After the cutters are damaged, they need to be replaced. At present, the replacement method of the TBM cutters is still manual cutter replacement. Manual cutter replacement of the cutters has high risks, high costs, many accidents and low efficiency, which affects the cost of TBM construction, hinders the construction efficiency and slows down the construction speed. Therefore, it is necessary to use automated equipment to replace manual cutter replacement and design a transport guide rail suitable for robot cutter replacement. This transport guide rail is installed in the TBM cabin through threaded connection, can firmly install the robot on the guide rail, and drives the robot to move through a hydraulic motor to complete the cutter replacement action.

[0003] In order to ensure the TBM construction efficiency, guarantee the life safety of construction personnel, improve the economy of shield construction, and facilitate the robot to perform automated cutter replacement, the robot transport guide rail for TBM cutter replacement is invented. Summary of the Invention

[0004] The purpose of the present invention is to provide a transport guide rail for a cutter replacement robot in a TBM. When used in cooperation with the robot body, it can realize unmanned cutter replacement of the TBM, thereby improving the construction speed of the TBM, reducing the construction cost of the TBM, and guaranteeing the life safety of construction participants.

[0005] The technical solution of the present invention:

[0006] A transport guide rail for a TBM cutter changing robot includes a mounting support and a moving mechanism;

[0007] The mounting support includes two HM steel beams and two racks. The HM steel beams are fixed in the TBM robot cabin, and the racks are fixed on the inner sides of the two HM steel beams.

[0008] The moving mechanism includes a mounting base, a pair of gears, a spiral bevel gear commutator, a robot fixing plate, a drive shaft, and a pair of pedestal bearings; relative movement between the mounting base and the transport guide rail is achieved through a gear-rack mechanism; the pedestal bearings are symmetrically installed at the front end of the base, the drive shaft passes through the pedestal bearings for connection, and the gears are installed at both ends of the drive shaft; the spiral bevel gear commutator is connected to the drive shaft and installed at the middle position of the mounting base. When the motor drives the spiral bevel gear commutator to rotate, the drive shaft rotates to drive the gears to rotate, thereby realizing the forward and backward movement of the robot mounted on the moving mechanism; the robot fixing plate is of an L-shaped structure and is fixed to the bottom surface at the rear end of the mounting base, and is fixed when the robot is assembled with the mounting base.

[0009] Advantages of the present invention: There is no robot transport guide rail in the existing TBM, and the existing robot transport guide rails at home and abroad are not applicable to the transport of heavy robots in the harsh environment of TBM. The transport guide rail involved in the present invention has a large load-bearing capacity and contains a hydraulic motor capable of driving the linear movement of the robot. The structure of this transport guide rail is simple and is not easily damaged in a harsh environment. Through hydraulic servo control, accurate positioning of the robot can be achieved, and it can carry a robot weighing about 1.5t for movement. Brief Description of the Drawings

[0010] Figure 1 is a schematic diagram of the mounting support;

[0011] Figure 2 is a schematic diagram of the moving mechanism;

[0012] Figure 3 is a schematic diagram of the moving guide rail;

[0013] Figure 4 is a schematic diagram of the overall assembly of the robot;

[0014] In the figure: 1 - HM steel; 2 - rack; 3 - robot fixing plate; 4 - mounting base; 5 - spiral bevel gear commutator; 6 - gear; 7 - drive shaft; 8 - pedestal bearing; 9 - transport guide rail assembly; 10 - robot; 11 - end effector; 12 - hob. Detailed Embodiments

[0015] The following further illustrates the detailed embodiments of the present invention in conjunction with the drawings and technical solutions.

[0016] A transport guide rail for a hob replacement robot in a TBM includes a mounting support and a moving mechanism.

[0017] The installation support includes two HM steel beams 1 and two racks 2. The HM steel beams 1 are fixed in the TBM robot compartment by bolts and are also assembled with the moving mechanism by bolts. The racks 2 are fixed on the opposite sides of the two HM steel beams 1. When the gear 6 in the moving mechanism rotates, the moving mechanism moves relative to the installation support and the TBM body, thereby driving the robot 10 to move.

[0018] The moving mechanism includes an installation base 4, a pair of gears 6, a spiral bevel gear commutator 5, a robot fixing plate 3, a drive shaft 7, and a pair of pedestal bearings 8. The pedestal bearings 8 are assembled with the installation base 4 and are fixed at the front end of the installation base 4. The drive shaft 7 passes through the pedestal bearings 8 for connection. The two gears 6 are installed at both ends of the drive shaft 7. The spiral bevel gear commutator 5 is connected to the drive shaft 7 and is installed on the installation base 4. The robot 10 is fixed to the moving mechanism by bolts and the robot fixing plate 3 and moves along with the movement of the moving mechanism.

[0019] A primary cutter changing process using a transportation guide rail is as follows:

[0020] Step 1: After the robot 10 identifies the position of the hob to be replaced, it inputs the position data into the controller. The controller controls the transportation guide rail to move. The motor connected to the input shaft of the spiral bevel gear commutator 5 drives the spiral bevel gear commutator 5 to rotate, driving the drive shaft 7 to rotate. The gears 6 and the racks 2 work to drive the movement of the first joint of the robot 10.

[0021] Step 2: The controller outputs a control signal to control the robot 10 to perform an attitude transformation and send the end effector 11 to the specified position.

[0022] Step 3: The end effector 11 grabs the damaged hob. The robot 10 performs a pose transformation under the action of the controller and sends the damaged hob to the conveying mechanism. The conveying mechanism sends the damaged hob outside the TBM body.

[0023] Step 4: The conveying mechanism sends a new hob into the TBM. The robot 10 grabs the new hob through the end effector 11.

[0024] Step 5: Under the action of the controller, the robot 10 sends the new hob to the position where replacement is needed through attitude transformation. The end effector 11 releases, and the new hob is installed on the cutter head of the TBM.

[0025] Step 6: The controller controls the transportation guide rail to return to the initial position: The motor drives the spiral bevel gear commutator 5 to rotate, driving the drive shaft 7 to rotate. The gears 6 and the racks 2 work to drive the movement of the first joint of the robot 10.

[0026] Step 7: Under the action of the controller, the robot 10 changes to the initial posture through posture transformation and waits for the next tool change instruction.

Claims

1. A transportation guide rail for a TBM cutter changing robot, characterized in that, The transportation guide rail includes a mounting support and a moving mechanism; The mounting support includes two HM steel beams and two racks. The HM steel beams are fixed in the TBM robot bin, and the racks are fixed on the inner sides of the two HM steel beams; The moving mechanism includes a mounting base, a pair of gears, a spiral bevel gear commutator, a robot fixing plate, a drive shaft, and a pair of pedestal bearings; the relative movement between the mounting base and the transportation guide rail is realized through a gear-rack mechanism; the pedestal bearings are symmetrically installed at the front end of the base, the drive shaft passes through the pedestal bearings for connection, and the gears are installed at both ends of the drive shaft; the spiral bevel gear commutator is connected to the drive shaft and installed at the middle position of the mounting base. When the motor drives the spiral bevel gear commutator to rotate, the drive shaft rotates to drive the gears to rotate, thereby realizing the forward and backward movement of the robot mounted on the moving mechanism; the robot fixing plate is of an L-shaped structure and is fixed on the bottom surface at the rear end of the mounting base, and is fixed when the robot is assembled with the mounting base.

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