Electromagnetic type supporting mechanism suitable for folding type tool changing robot

Abstract

An electromagnetic supporting mechanism suitable for a folding type tool changing robot comprises a supporting mechanical arm shell, a connecting rod mechanism and an electromagnetic supporting mechanism body. Mounting flanges are arranged at the two ends of the mechanical arm and connected with the mechanical arm of the folding type tool changing robot. Mounting flanges are arranged at the two ends of the mechanical arm and connected with the mechanical arm of the folding type tool changing robot. The connecting rod mechanism is controlled to move through stretching of the hydraulic oil cylinder, and the electromagnetic supporting mechanism is driven to retract and pop up. The electromagnetic supporting mechanism is connected with the supporting mechanical arm shell through a pin shaft, and an electromagnet is arranged at the lower end of the electromagnetic supporting mechanism and attracted to the inner wall of the TBM when unfolded. When the folding type tool changing robot stretches into a TBM cutter head to replace a hob, the tail end load is large, so that a robot body is unstable. Stable structural support can be provided for the robot in tool changing in the narrow space in the TBM, the overall stability of the robot is improved, workers can be effectively assisted in tool changing operation in cooperation with the tool changing robot, and the tool changing efficiency of the TBM is improved.

Description

Technical Field

[0001] The invention belongs to the field of robot structural design and relates to an electromagnetic support mechanism suitable for a foldable tool-changing robot. Background Art

[0002] TBMs are widely used in tunnel construction due to their high excavation efficiency, safety, and reliability. During TBM excavation, the cutters rely on constant contact and compression with the rock to break it, making them susceptible to damage and requiring frequent replacement. This cutter replacement is typically performed by on-site workers, but the internal environment of a TBM is extremely harsh, characterized by high temperatures, high humidity, and oxygen deficiency. Furthermore, a single cutter can weigh over 175kg. These issues make manual cutter replacement inefficient and dangerous, severely restricting tunnel excavation efficiency.

[0003] In summary, the traditional manual tool changing method has severely restricted the excavation efficiency, and the tool changing method of "machine replacing man" is imminent. The present invention belongs to the electromagnetic support mechanism of the folding tool changing robot, which needs to cooperate with the tool changing robot to complete the tool changing task. When the folding tool changing robot goes deep into the TBM cutter head to replace the roller cutter, the end load is large, which may cause the robot body to become unstable; the present invention is provided with an electromagnet at the lower end, which can be adsorbed on the inner wall of the TBM when unfolded, providing stable structural support for the robot during tool changing, improving the overall stability of the robot, and cooperating with the tool changing robot to effectively assist workers in tool changing operations, thereby improving the tool changing efficiency of the TBM. Summary of the Invention

[0004] The purpose of the present invention is to provide an electromagnetic support mechanism for a foldable tool-changing robot, so as to simplify the tool-changing process, improve tool-changing efficiency, significantly shorten tool-changing time, improve worker safety, and reduce labor intensity.

[0005] The technical solution of the present invention:

[0006] An electromagnetic support mechanism suitable for a folding tool changing robot comprises a supporting arm housing 1-1, a connecting rod mechanism and an electromagnetic support mechanism; the supporting arm housing 1-1 is the main body of the supporting joint 1 of the folding tool changing robot, and flanges are provided at both ends of the supporting arm housing 1-1, one end is connected to the upper end 2 of the folding tool changing robot, and the other end is connected to the lower end 3 of the folding tool changing robot; further, the lower end 3 of the folding tool changing robot is connected to the end 4 of the folding tool changing robot; one side of the connecting rod mechanism is installed inside the supporting arm housing 1-1 through a pin shaft, and the other side is connected to the pin hole on the electromagnetic support mounting plate 1-5 through a pin shaft; further, when the end 4 of the folding tool changing robot performs the task of disassembling the hob, the hydraulic cylinder 1-2 of the connecting rod mechanism is first driven to drive the electromagnetic support mounting plate 1-5 to pop out, and relies on the electromagnet 1-6 installed on the lower side of the electromagnetic support mounting plate 1-5 to be adsorbed on the TBM inner wall 5, and finally realizes the supporting function of the supporting joint 1;

[0007] The supporting robot arm housing 1-1 is provided with mounting flanges at both ends, one end of which is connected to the upper end 2 of the folding tool changing robot, and the other end is connected to the lower end 3 of the folding tool changing robot; the interior of the supporting robot arm housing 1-1 is a hollow structure for placing the connecting rod mechanism and the electromagnetic support;

[0008] The connecting rod mechanism includes a hydraulic cylinder 1-2, an input connecting rod mechanism 1-3, and an output connecting rod mechanism 1-4; one end of the hydraulic cylinder 1-2 is connected to the supporting mechanical arm housing 1-1 through a pin shaft, and the other end is connected to the input connecting rod mechanism 1-3 through a pin shaft; one side of the input connecting rod mechanism 1-3 is fixed in the supporting mechanical arm housing 1-1 through a pin shaft, and the other side is connected to the output connecting rod mechanism 1-4 through a pin shaft; the output connecting rod mechanism 1-4 is connected to the pin hole of the electromagnetic support 1-5 through a pin shaft; further, when the hydraulic cylinder 1-2 is extended, the output connecting rod mechanism 1-4 is driven to rotate clockwise through the input connecting rod mechanism 1-3, thereby realizing the retraction of the electromagnet 1-6; when the hydraulic cylinder 1-2 is retracted, the output connecting rod mechanism 1-4 is driven to rotate counterclockwise through the input connecting rod mechanism 1-3, thereby realizing the pop-up of the electromagnet 1-6;

[0009] The electromagnetic support mechanism includes an electromagnetic support mounting plate 1-5 and an electromagnet 1-6; the electromagnetic support mounting plate 1-5 is fixed to the support robot housing 1-1 by a pin and can rotate freely around it; further, the electromagnetic support mounting plate 1-5 is connected to the output connecting rod mechanism 1-4 by a pin; the electromagnet 1-6 is installed on the lower side of the electromagnetic support mounting plate 1-5;

[0010] Beneficial results of the present invention:

[0011] (1) The technical scheme provided by the application can provide stable structural support when the folding tool changing robot performs a roller changing task in a TBM, improve the overall stability of the robot, effectively assist workers in tool changing operation in cooperation with the tool changing robot, and improve the tool changing efficiency of the TBM;

[0012] (2) The application designs a structure that realizes the extension and retraction of the electromagnetic support mechanism through the hydraulic cylinder and the connecting rod mechanism, can be installed in the internal space of the mechanical arm of the folding tool changing robot, and has the advantages of compact structure and small space occupancy; BRIEF DESCRIPTION OF DRAWINGS

[0013] Figure 1 is the overall structure schematic diagram when the application is unfolded;

[0014] Figure 2 is the overall structure schematic diagram when the application is folded;

[0015] Figure 3 is the application schematic diagram of the folding tool changing robot;

[0016] Figure 4 is the application schematic diagram in the TBM;

[0017] In the figure: 1 is a support joint of a folding tool changing robot; 1-1 is a support mechanical arm shell; 1-2 is a hydraulic oil cylinder; 1-3 is an input connecting rod mechanism; 1-4 is an output connecting rod mechanism; 1-5 is an electromagnetic support mounting plate; 1-6 is an electromagnet; 2 is an upper end of the folding tool changing robot; 3 is a lower end of the folding tool changing robot; 4 is a tail end of the folding tool changing robot; 5 is a TBM inner wall. DETAILED DESCRIPTION

[0018] The specific embodiments of the application will be described in detail below in combination with the drawings and technical schemes.

[0019] The structure of the application has certain adaptability and can provide support for different structures. When the TBM is stopped, the roller changing is performed using the tool changing robot, and the extension process can be divided into the following steps:

[0020] Step one: when the robot reaches the grabbing posture as shown in Figure 4 , pull the piston rod of the hydraulic oil cylinder 1-2 for recovery;

[0021] Step two: the backward movement of the piston rod drives the input connecting rod mechanism 1-3 to rotate counterclockwise;

[0022] Step three: the input connecting rod mechanism 1-3 drives the output connecting rod mechanism 1-4 to rotate clockwise;

[0023] Step four: the pin and the electromagnetic support mounting plate 1-5 are rotated clockwise by the output connecting rod mechanism 1-4, so that the electromagnet 1-6 adheres to the inner wall of the 5TBM, and the support is completed;

[0024] Step five: after the hob replacement is completed, the electromagnetic support mounting plate 1-5 can be withdrawn by driving the hydraulic cylinder 1-2 to push the piston rod and repeating the above process.

Claims

1. An electromagnetic support mechanism suitable for a folding tool changing robot, characterized in that: The electromagnetic support mechanism comprises a supporting mechanical arm housing (1-1), a connecting rod mechanism and an electromagnetic support mechanism; The supporting robot arm housing (1-1) is provided with mounting flanges at both ends, one end being connected to the upper end (2) of the folding tool changing robot, and the other end being connected to the lower end (3) of the folding tool changing robot; the interior of the supporting robot arm housing (1-1) is a hollow structure for accommodating a connecting rod mechanism and an electromagnetic support mechanism; The connecting rod mechanism comprises a hydraulic cylinder (1-2), an input connecting rod mechanism (1-3) and an output connecting rod mechanism (1-4); one end of the hydraulic cylinder (1-2) is connected to the inner wall of the supporting mechanical arm housing (1-1) via a pin shaft, and the other end is connected to the input connecting rod mechanism (1-3) via a pin shaft; one side of the input connecting rod mechanism (1-3) is fixed in the supporting mechanical arm housing (1-1) via a pin shaft, and the other side is connected to the output connecting rod mechanism (1-4) via a pin shaft; the output connecting rod mechanism (1-4) is connected to the pin hole of the electromagnetic support 1-5 via a pin shaft; The electromagnetic support mechanism comprises an electromagnetic support mounting plate (1-5) and an electromagnet (1-6); the electromagnetic support mounting plate (1-5) is fixed to the outer wall of the supporting mechanical arm housing (1-1) via a pin shaft and can rotate freely around the outer wall; The electromagnetic support mounting plate (1-5) is connected to the output connecting rod mechanism (1-4) via a pin shaft; the electromagnet (1-6) is mounted on the lower side of the electromagnetic support mounting plate (1-5).

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