Modular automatic alignment belt changing device of tunnel steel pipe piece grinding head

Abstract

The invention discloses a modular automatic alignment belt changing device for a tunnel steel pipe piece grinding head. The modular automatic alignment belt changing device comprises a device shell; the rotating base is rotationally arranged at the front opening of the device shell under driving; the dismounting mechanism is arranged on one end face of the rotating base and used for taking down the grinding abrasive belt on the grinding head. The unloading mechanism is used for moving the old polishing abrasive belt which is taken down from the dismounting mechanism to an abrasive belt recovery area; the abrasive belt rack is arranged in the device shell, and a new polishing abrasive belt is arranged on the abrasive belt rack; the assembling mechanism is arranged on the other end face of the rotating base and used for assembling a new grinding abrasive belt on the abrasive belt rack to the grinding head. The belt replacing device can solve the problem that the belt replacing efficiency of the abrasive belt and the grinding efficiency of the tunnel steel pipe sheet are affected due to poor convenience of the belt replacing device for the existing abrasive belt type grinding device and the belt replacing operation of the abrasive belt in a manual belt replacing mode.

Description

Technical Field

[0001] This invention relates to the field of grinding equipment technology, specifically a modular automatic alignment and belt-changing device for a tunnel steel pipe segment grinding head. Background Technology

[0002] Before assembly, tunnel steel segments need to be ground by a grinding device to remove burrs and other quality defects that affect the smoothness of the steel segments, thereby ensuring high-quality assembly and use of the steel segments in the future.

[0003] Currently, grinding of tunnel steel segments is generally achieved using grinding wheels. Some grinding devices employ a structure where a drive wheel and tension wheel drive the grinding belt, achieving the grinding effect through friction between the surface of the grinding belt and the surface of the steel segment. To ensure the assembly stability of the grinding belt on the drive wheel and prevent movement or displacement during grinding, belt grinding devices typically have a limiting flange at the end of the drive wheel, which abuts against the side of the grinding belt to achieve a limiting effect. However, this also causes the grinding belt to become embedded in the groove formed between the limiting flanges, making the installation and removal of the grinding belt inconvenient regardless of whether using existing belt changing devices or manual methods. This affects the efficiency of belt changing and ease of use, thus impacting the grinding efficiency of tunnel steel segments. Summary of the Invention

[0004] The purpose of this invention is to solve the problem that the belt changing device and manual belt changing method of existing belt grinding equipment are not convenient to operate, which affects the belt changing efficiency and the grinding efficiency of tunnel steel pipe segments. Therefore, this invention provides a modular automatic alignment and belt changing device for tunnel steel pipe segment grinding heads.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: a modular automatic alignment and belt-changing device for a tunnel steel segment grinding head, comprising:

[0006] The device housing has a front opening on its front side that connects to its internal cavity;

[0007] A rotating base is rotatably mounted at the front opening, and its bottom bearing seat connects to the output end of the servo motor inside the device housing;

[0008] The disassembly mechanism is located on one end face of the rotating base and includes a first receiving block and a second receiving block. The first receiving block is slidably disposed on the top of the rotating base and on the first inclined guide groove, driven by a first adjusting mechanism. The second receiving block is disposed at the bottom of the rotating base.

[0009] An unloading mechanism is used to move the old sanding belt removed from the disassembly mechanism to the sanding belt recycling area;

[0010] An assembly mechanism is disposed on the other end face of the rotating base;

[0011] A sanding belt holder is arranged in the inner cavity, and several first support rods and second support rods are set on it. A new sanding belt is fitted onto the first support rods and second support rods. A sanding head is set at the end of the sanding robot. A drive wheel and a tension wheel are set on the sanding head. The sanding belt is fitted onto the drive wheel and the tension wheel and is limited by the abutment of the limiting flange at the end of the drive wheel and the tension wheel. The tension wheel is driven by a cylinder to move laterally to engage with the sanding head. The assembly mechanism is used to assemble the new sanding belt on the sanding belt holder onto the sanding head.

[0012] As a further description of the above technical solution:

[0013] The first adjustment mechanism includes a first linkage rod and a first linear drive device. A first outer slider is provided on the first linkage rod, and the outer end of the first outer slider is connected to the first receiving block. A third inclined guide groove parallel to the first inclined guide groove is also provided on the rotating base. The inner end of the first outer slider is slidably connected to the first inclined guide groove or the third inclined guide groove. The output end of the first linear drive device on the rotating base is connected to the first linkage rod. A first inner slider is provided at the inner end of the first outer slider. The first outer slider and the first inner slider are an integral stepped structure and are slidably disposed together in the first inclined guide groove or the third inclined guide groove with a stepped cross-section.

[0014] As a further description of the above technical solution:

[0015] The output end of the first linear drive device is provided with a first component, which is slidably sleeved on the first linkage rod.

[0016] As a further description of the above technical solution:

[0017] The unloading mechanism includes an X-axis drive device, a Y-axis drive device, a movable seat, a Z-axis drive device, and a claw hook. The X-axis drive device is mounted on the top of the inner cavity. The Y-axis drive device is slidably disposed on the X-axis drive device along the X-axis direction, and the movable seat is slidably disposed on it along the Y-axis direction. The Z-axis drive device is disposed on the movable seat, and the claw hook is movably disposed on it along the Z-axis direction.

[0018] As a further description of the above technical solution:

[0019] The movable seat has an L-shaped structure, and a drive motor is installed on a right-angle plate on it. The output end of the drive motor is connected to the Z-axis drive device.

[0020] As a further description of the above technical solution:

[0021] The assembly mechanism includes a third receiving block and a fourth receiving block. The third receiving block is driven to slide on the top of the rotating base and on the second inclined guide groove arranged at an inclination by a second adjustment mechanism. The fourth receiving block is arranged at the bottom of the rotating base.

[0022] As a further description of the above technical solution:

[0023] The second adjustment mechanism includes a second linkage rod and a second linear drive device. A second outer slider is provided on the second linkage rod. The outer end of the second outer slider is connected to the third receiving block. A fourth inclined guide groove parallel to the second inclined guide groove is also provided on the rotating base. The inner end of the second outer slider is slidably connected to the second inclined guide groove or the fourth inclined guide groove. The output end of the second linear drive device on the rotating base is connected to the second linkage rod. A second inner slider is provided at the inner end of the second outer slider. The second outer slider and the second inner slider are an integral stepped structure and are slidably disposed together in the second or fourth inclined guide groove with a stepped cross-section.

[0024] As a further description of the above technical solution:

[0025] The output end of the second linear drive device is provided with a second component, which is slidably sleeved on the second linkage rod.

[0026] As a further description of the above technical solution:

[0027] The top surface of the fourth receiving block is provided with several vacuum nozzles, and it is also provided with a connector and an internal air duct that connect the vacuum nozzles to the external vacuum generating device. It connects to the output end of the third linear drive device on the rotating base below.

[0028] As a further description of the above technical solution:

[0029] The abrasive belt rack has a positioning plate on the inner side of the first support rod and the second support rod. The positioning plate is connected to the output end of the fourth linear drive device on the abrasive belt rack. It is equipped with clamping blocks corresponding to the abrasive belt. The abrasive belt is inserted into the clamping holes of several clamping blocks. The side of the device housing is provided with a lateral opening and an extension platform that communicate with its inner cavity.

[0030] In summary, due to the adoption of the above technical solution, the present invention has the following beneficial effects compared with the prior art:

[0031] The automatic belt changing device for tunnel steel pipe segment grinding heads of the present invention can realize continuous and fully automated disassembly and recycling of abrasive belts on grinding heads, as well as the picking up and assembly of new abrasive belts. In use, a cylinder drives the tension wheel to move, causing the abrasive belt to loosen; the grinding robot moves the grinding head to a position directly opposite the unloading mechanism. At this time, the first receiving block is located at the mating gap between the transmission wheel and the top of the abrasive belt, and the second receiving block is located between the bottom of the abrasive belt and the tension wheel; as the grinding head moves, the first adjusting mechanism drives the first receiving block to move, causing it to expand outwards until it reaches the outside of the limiting flange, gradually pushing the abrasive belt out of the groove formed between the limiting flanges. When the abrasive belt is completely disengaged from the transmission wheel, its bottom abuts against the bottom of the second receiving block, achieving tensioning and positioning of the old abrasive belt on the unloading mechanism, completing the belt disassembly. This solves the problem of the abrasive belt becoming embedded in the transmission wheel. The assembly method using the groove on the drive wheel surface addresses the difficulties of existing belt changing and belt disassembly. The assembly mechanism on the other side of the rotating base retrieves new sanding belts from the belt rack. A servo motor then drives the belt rack to rotate, aligning the assembly mechanism with the grinding head. The disassembly mechanism, moving inward, loosens the old sanding belt, which is then transferred and recycled via an unloading mechanism. Simultaneously, based on a similar mechanism to the disassembly, and aided by gravity, the assembly mechanism guides the new sanding belt, allowing it to re-embed into the groove on the drive wheel surface. The tensioning wheel then resets, tensioning the new sanding belt, thus completing the belt changing operation. The entire process is free of structural interference, with efficient and stable disassembly and assembly operations. The new sanding belt exhibits high assembly strength and stability. No manual assistance is required, achieving fully automated operation. Attached Figure Description

[0032] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 This is a schematic diagram of a modular automatic alignment and belt-changing device for a tunnel steel segment grinding head.

[0034] Figure 2 This is a schematic diagram of the assembly mechanism in a modular automatic alignment and belt-changing device for a tunnel steel pipe segment grinding head.

[0035] Figure 3 This is a schematic diagram of the sand belt rack in a modular automatic alignment and belt changing device for grinding tunnel steel pipe segments.

[0036] Figure 4 for Figure 1Enlarged view of point A in the middle.

[0037] Figure 5 This is a diagram showing the usage status of the disassembly mechanism in a modular automatic alignment and belt changing device for a tunnel steel pipe segment grinding head.

[0038] Figure 6 This is a schematic diagram of the structure of a grinding robot corresponding to a modular automatic alignment and belt changing device for grinding heads of tunnel steel pipe segments.

[0039] Legend:

[0040] 1. Device housing; 2. Inner cavity; 3. Rotating base; 4. Bearing seat; 5. First receiving block; 6. Second receiving block; 7. First inclined guide groove; 8. Third receiving block; 9. Fourth receiving block; 10. Second inclined guide groove; 11. Sand belt rack; 12. First support rod; 13. Second support rod; 14. First linkage rod; 15. First linear drive device; 16. First outer slider; 17. Third inclined guide groove; 18. First assembly; 19. First inner slider; 20. X-axis drive device; 21. Y-axis drive device; 22. Moving seat; 23. Z-axis drive device; 24. Claw hook; 25. Drive motor; 26. Second linkage rod; 27. Second linear drive device; 28. Second outer slider; 29. ​​Fourth inclined guide groove; 30. Second assembly; 31. Second inner slider; 32. Third linear drive device; 33. Clamping block; 34. Extension platform;

[0041] 100. Grinding belt; 200. Grinding robot; 300. Grinding head; 310. Drive wheel; 320. Tensioning wheel; 330. Limiting flange. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0043] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0044] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0045] In the description of the embodiments of the present invention, it should be noted that the terms "upper" and "inner" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of the invention is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the present invention.

[0046] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection, an indirect connection through an intermediate medium, or a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0047] Please see Figure 1-6 This invention provides a technical solution: a modular automatic alignment and belt-changing device for a tunnel steel segment grinding head, comprising:

[0048] The device housing 1 has a front opening on its front side that connects to its inner cavity 2;

[0049] Rotate the base 3, which is rotatably set at the front opening, and the bearing seat 4 at its bottom is connected to the output end of the servo motor inside the device housing 1;

[0050] The disassembly mechanism is located on one end face of the rotating base 3. It includes a first receiving block 5 and a second receiving block 6. The first receiving block 5 is slidably mounted on the top of the rotating base 3 and on the inclined first guide groove 7 through a first adjustment mechanism. The second receiving block 6 is located at the bottom of the rotating base 3. To simplify the structure, the first inclined guide groove 7 can also be designed horizontally, driving the first receiving block 5 to move horizontally outward or inward, thereby realizing the pushing and guiding of the sanding belt.

[0051] An unloading mechanism is used to move the old sanding belt 100 removed from the disassembly mechanism to the sanding belt recycling area;

[0052] An assembly mechanism is disposed on the other end face of the rotating base 3;

[0053] A sanding belt holder 11 is arranged in the inner cavity 2, and several first support rods 12 and second support rods 13 are provided on it. A new sanding belt 100 is fitted onto the first support rods 12 and second support rods 13. A sanding head 300 is provided at the end of the sanding robot 200. A drive wheel 310 and a tension wheel 320 are provided on the sanding head 300. The sanding belt 100 is fitted onto the drive wheel 310 and the tension wheel 320 and is limited by the abutment of the limiting flange 330 at the end of the drive wheel 310 and the tension wheel 320. The tension wheel 320 is driven by a cylinder to move laterally to engage with the sanding head 300. The assembly mechanism is used to assemble the new sanding belt 100 on the sanding belt holder 11 onto the sanding head 300. In this embodiment, as shown... Figure 6 As shown, the grinding head 300 adopts a triangular belt grinding method. Two drive wheels 310 are provided, at least one of which is connected to a servo motor on the grinding head 300 to drive the grinding belt 100 to rotate. When it contacts the tunnel steel pipe segment, it can grind the surface of the tunnel steel pipe segment through its surface. One tensioning wheel 320 is provided. The operation of the cylinder can realize the lateral movement of the tensioning wheel 320 on the grinding head 300 to adjust the distance between it and the drive wheel 310, thereby realizing the tensioning or loosening of the grinding belt 100.

[0054] The automatic sanding belt changing device for the tunnel steel pipe segment grinding head of the present invention can realize continuous and fully automated sanding belt disassembly and recycling, new sanding belt picking and assembly operations on the grinding head. In use, the cylinder drives the tension wheel 320 to move, causing the abrasive belt 100 to loosen. The abrasive robot 200 moves the abrasive head 300 to a position directly opposite the unloading mechanism. At this time, the first receiving block 5 is located at the mating gap between the transmission wheel 310 and the top of the abrasive belt 100, and the second receiving block 6 is located between the bottom of the abrasive belt 100 and the tension wheel 320. As the abrasive head 300 moves, the first adjusting mechanism drives the first receiving block 5 to move outward, moving it to the outside of the limiting flange 330. This gradually pushes the abrasive belt 100 out of the groove formed between the limiting flanges 330. When the abrasive belt 100 is completely disengaged from the transmission wheel 310, its bottom abuts against the bottom of the second receiving block 6, achieving tensioning and positioning of the old abrasive belt 100 on the unloading mechanism, thus completing the belt disassembly. This solves the problems of difficult belt replacement and inconvenient belt disassembly caused by the assembly method of embedding the sanding belt into the groove of the drive wheel surface. The assembly mechanism on the other side of the rotating base 3 completes the picking of the new sanding belt 100 from the sanding belt rack 11. Then, the servo motor drives the sanding belt rack 11 to turn, and the assembly mechanism faces the grinding head 300. The disassembly mechanism, which moves to the inside, loosens the old sanding belt 100, and the sanding belt is transferred and recycled by the unloading mechanism. At the same time, based on a similar mechanism to the disassembly process and with the help of gravity, the assembly mechanism guides the new sanding belt 100 to re-embed it into the groove of the drive wheel 310. Then, the tensioning wheel 320 resets, and the new sanding belt 100 is tensioned, thus completing the sanding belt replacement operation. The entire process is free of structural interference, and the disassembly and assembly operations are efficient and stable. The new sanding belt has high assembly strength and stability. During the process, no manual assistance is required, and the entire process is fully automated.

[0055] In one embodiment, to achieve highly stable movement of the first receiving block 5 and improve the efficiency and stability of belt peeling during disassembly and belt guidance during assembly, the following design is adopted: Based on the triangular design of the grinding head 300, the first receiving block 5, the first inclined guide groove 7, and the first adjustment mechanism are symmetrically arranged in two sets. The first adjustment mechanism includes a first linkage rod 14 and a first linear drive device 15. A first outer slider 16 is provided on the first linkage rod 14, and the outer end of the first outer slider 16 is connected to the first receiving block 5. A third inclined guide groove 17 parallel to the first inclined guide groove 7 is also provided on the rotating base 3. The inner end of the first outer slider 16 is slidably connected to the first inclined guide groove 7 or the third inclined guide groove 17. The output end of the first linear drive device 15 on the rotating base 3 is connected to the first linkage rod 14. A first inner slider 19 is provided on the inner end of the first outer slider 16. The first outer slider 16 and the first inner slider 19 are an integral stepped structure, which are slidably arranged together in the first inclined guide groove 7 or the third inclined guide groove 17 with a stepped cross-section. The output end of the first linear drive device 15 is provided with a first assembly 18, which is slidably sleeved on the first linkage rod 14. In use, the first linear drive device 15 drives the horizontal first linkage rod 14 to rise and fall, thereby enabling the first receiving block 5 to expand outward or contract inward. This, guided by the inclined guide groove, facilitates the external support pushing at the top during sanding belt disassembly and the loosening of the old sanding belt when docking with the unloading mechanism. The structural usage state during disassembly can be referenced... Figure 5 During this period, the first linkage rod 14 and the first inclined guide groove 7 and the third inclined guide groove 17 are closely slidably connected in a multi-point guiding and stepped structure, which can further improve the stability of the movement drive of the first receiving block 5, so as to improve the efficiency and stability of the operation of the sanding belt; while the kit slides adaptively on the linkage rod to ensure that the structural position is matched and there is no interference.

[0056] In one embodiment, the unloading mechanism includes an X-axis drive device 20, a Y-axis drive device 21, a movable seat 22, a Z-axis drive device 23, and a claw hook 24. The X-axis drive device 20 is mounted on the top of the inner cavity 2. The Y-axis drive device 21 is slidably disposed on the X-axis drive device 20 along the X-axis direction, and the movable seat 22 is slidably disposed on it along the Y-axis direction. The Z-axis drive device 23 is disposed on the movable seat 22, and the claw hook 24 is movably disposed on it along the Z-axis direction. The movable seat 22 has an L-shaped structure, and a right-angle plate on it is provided with a drive motor 25. The output end of the drive motor 25 is connected to the Z-axis drive device 23. The three drive devices mentioned above can respectively adjust the position of the claw hook 24 in the X, Y, and Z axis directions, thereby completing the docking of the claw hook 24 with the top of the loosened old sanding belt on the disassembly mechanism, hooking it up, and then moving the old sanding belt to the recycling area. The drive motor 25 drives the Z axis drive device 23 and the claw hook 24 to swing, causing the old sanding belt to detach and fall into the recycling area, completing the efficient transfer and recycling process.

[0057] In one embodiment, the assembly mechanism includes a third receiving block 8 and a fourth receiving block 9. The third receiving block 8 is slidably mounted on the top of the rotating base 3 and on the inclined second guide groove 10 via a second adjustment mechanism. The fourth receiving block 9 is disposed at the bottom of the rotating base 3. The second inclined guide groove 10 can also be horizontally arranged and driven by a linear drive device to achieve external support or internal retraction.

[0058] The second adjustment mechanism includes a second linkage rod 26 and a second linear drive device 27. A second outer slider 28 is mounted on the second linkage rod 26, with its outer end engaging with the third receiving block 8. A fourth oblique guide groove 29, parallel to the second oblique guide groove 10, is also mounted on the rotating base 3. The inner end of the second outer slider 28 slidably engages with either the second oblique guide groove 10 or the fourth oblique guide groove 29. The output end of the second linear drive device 27 on the rotating base 3 engages with the second linkage rod 26. A second inner slider 31 is mounted on the inner end of the second outer slider 28. The second outer slider 28 and the second inner slider 31 form an integral stepped structure, sliding together within the stepped cross-section of the second oblique guide groove 10 or the fourth oblique guide groove 29. A second assembly 30 is mounted on the output end of the second linear drive device 27, and the second assembly 30 is slidably fitted onto the second linkage rod 26. The top surface of the fourth receiving block 9 is provided with several vacuum nozzles, and it is also provided with a connector and an internal air duct connecting the vacuum nozzles to an external vacuum generator. It connects to the output end of the third linear drive device 32 on the rotating base 3 below. When feeding new sanding belt onto the assembly mechanism, the second linear drive device 27 and the third linear drive device 32 operate, causing the third receiving block 8 to align with the first support rod 12, and the second support rod 13 to be offset from the fourth receiving block 9, leaving a gap between them equal to the thickness of the sanding belt. Figure 2 As shown; then, the feeding structure on the sand belt rack 11 pushes the new sand belt to the outside of the third receiving block 8 and the top of the fourth receiving block 9. The fourth receiving block 9 uses a vacuum nozzle to adsorb the bottom outer surface of the sand belt, thus completing the positioning of the new sand belt on the assembly mechanism. When assembling a new sanding belt on the grinding head 300, the grinding head 300 moves outside the rotation range of the rotating base 3. After it completes its rotation, the assembly mechanism faces the grinding head 300, and the grinding head 300 approaches the assembly mechanism. Then, the second linear drive device 27 drives the second linkage rod 26 to move upward, allowing the grinding head 300 to move appropriately, so that the third receiving block 8 slides past the outer side of the limiting flange 330 and guides the new sanding belt to embed into the groove on the surface of the transmission wheel 310 under the action of gravity. During this period, the third linear drive device 32 operates, driving the fourth receiving block 9 to move downward, so as to apply a certain downward force to the sanding belt and promote its docking with the transmission wheel 310. Finally, the cylinder drives the tensioning wheel 320 to move outward, completing the tensioning of the new sanding belt. The vacuum nozzle pressurizes again to release the adsorption of the sanding belt, thus completing the assembly. The grinding head 300 can then be detached from the assembly mechanism for grinding operations. During this process, the linkage rod and the inclined guide groove are closely connected by a multi-point guide and a stepped structure, which can further improve the stability of the movement drive of the third receiving block 8, thereby improving the efficiency and stability of the operation of the sanding belt; while the kit slides adaptively on the linkage rod to ensure that the structural position is matched and there is no interference.

[0059] In one embodiment, the feeding structure of the sanding belt on the sanding belt rack 11 is as follows: a positioning plate is provided on the inner side of the first support rod 12 and the second support rod 13 of the sanding belt rack 11. The positioning plate is connected to the output end of the fourth linear drive device on the sanding belt rack 11, and a clamping block 33 corresponding to the sanding belt 100 is provided on it. The sanding belt 100 is inserted into the clamping slots of several clamping blocks 33. In use, the fourth linear drive device pushes the positioning plate outward, so that it and the clamping blocks 33 push the sanding belt, thereby moving the sanding belt onto the assembly mechanism to complete the feeding. The device housing 1 has a lateral opening connecting its inner cavity 2 and an extension platform 34 on its side. The sanding belt rack 11 can be conveyed via a conveying device on the extension platform 34. After new sanding belts are laid on it, it is then conveyed to the belt changing device, completing the docking of the fourth linear drive equipment with the structure inside the device housing 1, ensuring the stable operation of the fourth linear drive equipment. Alternatively, the sanding belt rack 11 can be detachably assembled inside the device housing 1. When new sanding belts need to be replenished, the locking state of the sanding belt rack 11 is released, it is removed from the device housing 1 and placed on the extension platform 34, and after replenishment, the sanding belt rack 11 is repositioned for new sanding belt loading. In addition, multiple sanding belts can be fitted on the first support rod 12 and the second support rod 13 for use.

[0060] Furthermore, the aforementioned drive equipment can employ one or more of commonly used linear motors, electric cylinders, pneumatic cylinders, or hydraulic cylinders, or other linear drive mechanisms or equipment. Since the points and spatial positions of the structure during docking are fixed, precise automated control based on the direction and distance of structural movement can ensure accurate movement to the corresponding position during docking, completing a stable sanding belt transfer. Of course, industrial cameras or other structural recognition equipment can also be equipped to guarantee the accuracy of movement and structural docking.

[0061] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A modular automatic alignment and belt-changing device for a tunnel steel segment grinding head, characterized in that, include: The device housing has a front opening on its front side that connects to its internal cavity; A rotating base is rotatably mounted at the front opening, and its bottom bearing seat connects to the output end of the servo motor inside the device housing; The disassembly mechanism is located on one end face of the rotating base and includes a first receiving block and a second receiving block. The first receiving block is slidably disposed on the top of the rotating base and on the first inclined guide groove, driven by a first adjusting mechanism. The second receiving block is disposed at the bottom of the rotating base. An unloading mechanism is used to move the old sanding belt removed from the disassembly mechanism to the sanding belt recycling area; An assembly mechanism is disposed on the other end face of the rotating base; A sanding belt holder is arranged in the inner cavity, and several first support rods and second support rods are set on it. A new sanding belt is fitted onto the first support rods and second support rods. A sanding head is set at the end of the sanding robot. A drive wheel and a tension wheel are set on the sanding head. The sanding belt is fitted onto the drive wheel and the tension wheel and is limited by the abutment of the limiting flange at the end of the drive wheel and the tension wheel. The tension wheel is driven by a cylinder to move laterally to engage with the sanding head. The assembly mechanism is used to assemble the new sanding belt on the sanding belt holder onto the sanding head.

2. The modular automatic alignment and belt-changing device for a tunnel steel segment grinding head according to claim 1, characterized in that, The first adjustment mechanism includes a first linkage rod and a first linear drive device. A first outer slider is provided on the first linkage rod, and the outer end of the first outer slider is connected to the first receiving block. A third inclined guide groove parallel to the first inclined guide groove is also provided on the rotating base. The inner end of the first outer slider is slidably connected to the first inclined guide groove or the third inclined guide groove. The output end of the first linear drive device on the rotating base is connected to the first linkage rod. A first inner slider is provided at the inner end of the first outer slider. The first outer slider and the first inner slider are an integral stepped structure and are slidably disposed together in the first inclined guide groove or the third inclined guide groove with a stepped cross-section.

3. The modular automatic alignment and belt-changing device for a tunnel steel segment grinding head according to claim 2, characterized in that, The output end of the first linear drive device is provided with a first component, which is slidably sleeved on the first linkage rod.

4. The modular automatic alignment and belt-changing device for a tunnel steel segment grinding head according to claim 1, characterized in that, The unloading mechanism includes an X-axis drive device, a Y-axis drive device, a movable seat, a Z-axis drive device, and a claw hook. The X-axis drive device is mounted on the top of the inner cavity. The Y-axis drive device is slidably disposed on the X-axis drive device along the X-axis direction, and the movable seat is slidably disposed on it along the Y-axis direction. The Z-axis drive device is disposed on the movable seat, and the claw hook is movably disposed on it along the Z-axis direction.

5. The modular automatic alignment and belt-changing device for a tunnel steel segment grinding head according to claim 4, characterized in that, The movable seat has an L-shaped structure, and a drive motor is installed on a right-angle plate on it. The output end of the drive motor is connected to the Z-axis drive device.

6. The modular automatic alignment and belt-changing device for a tunnel steel segment grinding head according to claim 1, characterized in that, The assembly mechanism includes a third receiving block and a fourth receiving block. The third receiving block is driven to slide on the top of the rotating base and on the second inclined guide groove arranged at an inclination by a second adjustment mechanism. The fourth receiving block is arranged at the bottom of the rotating base.

7. The modular automatic alignment and belt-changing device for a tunnel steel segment grinding head according to claim 6, characterized in that, The second adjustment mechanism includes a second linkage rod and a second linear drive device. A second outer slider is provided on the second linkage rod. The outer end of the second outer slider is connected to the third receiving block. A fourth inclined guide groove parallel to the second inclined guide groove is also provided on the rotating base. The inner end of the second outer slider is slidably connected to the second inclined guide groove or the fourth inclined guide groove. The output end of the second linear drive device on the rotating base is connected to the second linkage rod. A second inner slider is provided at the inner end of the second outer slider. The second outer slider and the second inner slider are an integral stepped structure and are slidably disposed together in the second or fourth inclined guide groove with a stepped cross-section.

8. The modular automatic alignment and belt-changing device for a tunnel steel segment grinding head according to claim 7, characterized in that, The output end of the second linear drive device is provided with a second component, which is slidably sleeved on the second linkage rod.

9. A modular automatic alignment and belt-changing device for a tunnel steel segment grinding head according to claim 6, characterized in that, The top surface of the fourth receiving block is provided with several vacuum nozzles, and it is also provided with a connector and an internal air duct that connect the vacuum nozzles to the external vacuum generating device. It connects to the output end of the third linear drive device on the rotating base below.

10. A modular automatic alignment and belt-changing device for a tunnel steel segment grinding head according to claim 1, characterized in that, The abrasive belt rack has a positioning plate on the inner side of the first support rod and the second support rod. The positioning plate is connected to the output end of the fourth linear drive device on the abrasive belt rack. It is equipped with clamping blocks corresponding to the abrasive belt. The abrasive belt is inserted into the clamping holes of several clamping blocks. The side of the device housing is provided with a lateral opening and an extension platform that communicate with its inner cavity.

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