Worm and gear type end effector suitable for full face tunnel boring machine tool changing robot

Abstract

The invention belongs to the technical field of tunneling construction equipment, and discloses a worm and gear type end effector suitable for a full-face tunneling machine tool changing robot. The worm and gear type end effector is composed of an end box body, a lateral ejection mechanism and a clamping jaw driving mechanism, a hob is laterally ejected out of a hob box under the driving of the lateral ejection mechanism, and the clamping jaw driving mechanism drives a clamping jaw to be opened and closed so as to clamp the hob. The end effector is matched with a robot to have the hob grabbing function and the hob lateral ejection function, and the hob in an eccentric type hob box can be disassembled and assembled. And by utilizing the self-locking characteristic of the worm and gear transmission mechanism, the stability and the safety in the hobbing cutter clamping process are realized. The worm and gear type end effector is suitable for the narrow working environment in the TBM, the internal structure of the TBM does not need to be changed, the end load is large, workers are effectively assisted in tool changing operation, the occurrence probability of safety accidents is reduced, and the TBM hob replacing efficiency is improved.

Description

Technical Field

[0001] This invention belongs to the technical field of tunnel boring machine equipment, and relates to a worm gear type end effector suitable for a cutter changer robot of a full-face tunnel boring machine. Background Technology

[0002] With the utilization and development of underground space, numerous large-diameter tunnel projects, such as pipelines and transportation tunnels, require construction. Full-face rock tunnel boring machines (TBMs) rely primarily on the cutting and excavation of the rock by the excavation of cutters. Under harsh environments with heavy loads and strong impacts, the cutters need frequent replacement. Currently, cutter replacement is mainly done manually. In extreme environments such as confined spaces, high temperatures, high humidity, high pressure, and oxygen deficiency, workers disassemble, transport, and install cutters weighing over 200 kg. Statistics show that cutter inspection and replacement time accounts for one-third of the total construction time and cost, and 70% of safety accidents are directly related to manual cutter replacement. The cutter replacement process is dangerous and inefficient.

[0003] Therefore, in order to improve cutter changing efficiency, shorten the tunneling period, reduce the cost of tunnel engineering, reduce the probability of safety accidents, and realize the application of robotic cutter changing inside TBMs, this worm gear end effector suitable for cutter changing robots in full-face tunnel boring machines was invented. Summary of the Invention

[0004] The purpose of this invention is to provide a worm gear end effector suitable for a tool changing robot in a full-face tunnel boring machine. This simplifies the tool changing process, improves tool changing efficiency, significantly shortens tool changing time, enhances worker safety, and reduces labor intensity.

[0005] The technical solution of this invention:

[0006] A worm gear type end effector suitable for a tool changer robot of a full-face tunnel boring machine includes an end housing 1, a lateral ejection mechanism 2, and a gripper drive mechanism 3;

[0007] The lateral ejection mechanism 2 includes an electric push rod 2-2, a roller 2-1, and a sealing cover 2-3. The electric push rod 2-2 is installed in the cavity of the end housing 1. The front flange of the electric push rod 2-2 is fixed to the end housing 1. The push rod lug of the electric push rod 2-2 is connected to the roller 2-1. The sealing cover 2-3 seals the cavity of the end housing 1. When the electric push rod 2-2 is energized, it can push the push rod outward, push the roller 2-1 against the inner wall of the cutter box, and then push the cutter out laterally.

[0008] The gripper drive mechanism 3 includes a servo motor 3-1, a small synchronous pulley 3-2, a synchronous belt 3-3, a large synchronous pulley 3-4, a right worm gear reducer 3-5, a left worm gear reducer 3-6, a left pin 3-7, a left gripper 3-8, a right pin 3-9, a right gripper 3-10, an L-shaped connecting plate 3-11, and a reducer connecting plate 3-12. The left worm gear reducer 3-6 and the right worm gear reducer 3-5 are connected to the end housing 1. The worm output shaft of the right worm gear reducer 3-5 is inserted into the worm input hole of the left worm gear reducer 3-6. The worm gear reducer 3-6 and the right worm gear reducer 3-5 have opposite worm rotation directions. The left worm gear reducer 3-6 and the right worm gear reducer 3-5 are connected by a reducer connecting plate 3-12. The servo motor 3-1 is fixed to the upper part of the right worm gear reducer 3-5 by an L-shaped connecting plate 3-11. The small synchronous pulley 3-2 is circumferentially fixed to the motor shaft of the servo motor 3-1 by a flat key. The large synchronous pulley 3-4 is circumferentially fixed to the input shaft of the right worm gear reducer 3-5 by a flat key. The left gripper 3-8 and the right gripper 3-10 are respectively connected to the left pin 3-7 and the right pin 3-9. The left worm gear reducer 3-6 is connected to the worm output hole of the right worm gear reducer 3-5. Keyways are provided on the left pin 3-7 and right pin 3-9, respectively, to further connect with the left gripper 3-8 and right gripper 3-10 via flat keys, corresponding to the worm output holes of the left worm gear reducer 3-6 and right worm gear reducer 3-5. The left pin 3-7 and right pin 3-9 are installed in pre-drilled pin holes on the end housing 1. The servo motor 3-1 rotates, driving the small synchronous pulley 3-2. The small synchronous pulley 3-2 drives the large synchronous pulley 3-4 via the synchronous belt 3-3. The large synchronous pulley 3-4... The worm input shaft connected to the right worm gear reducer 3-5 drives the right worm gear reducer 3-5 to rotate. The worm output shaft of the right worm gear reducer 3-5 is inserted into the worm input shaft hole of the left worm gear reducer 3-6 and rotates synchronously. Since the worms of the right worm gear reducer 3-5 and the left worm gear reducer 3-6 rotate in opposite directions, the worm wheels of the right worm gear reducer 3-5 and the left worm gear reducer 3-6 rotate in opposite directions. This, through the right pin 3-9 and the left pin 3-7, drives the right jaw 3-10 and the left jaw 3-8 to rotate in opposite directions, thereby realizing the opening and closing of the jaws.

[0009] The beneficial effects of this invention are as follows: The end effector designed in this invention, in conjunction with a robot, possesses both the functions of gripping and laterally ejecting the hob cutter, enabling the assembly and disassembly of hobs in an eccentric toolbox. Furthermore, the self-locking characteristic of the worm gear transmission mechanism ensures stability and safety during the hob clamping process. It is suitable for the confined working environment inside a TBM, requires no alteration to the TBM's internal structure, has a large end-effector load, effectively assists workers in tool changing operations, reduces the probability of safety accidents, and improves the efficiency of TBM hob cutter replacement. Attached Figure Description

[0010] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0011] Figure 2 This is a cross-sectional schematic diagram of the lateral ejection mechanism 2 of the present invention;

[0012] Figure 3 This is a schematic diagram of the gripper drive mechanism (with the end housing hidden) of the present invention;

[0013] In the diagram: 1. End housing; 2. Hob ejector mechanism; 3. Gripper drive mechanism; 2-1. Roller; 2-2. Electric actuator; 2-3. Sealing cover; 3-1. Servo motor; 3-2. Small synchronous pulley; 3-3. Synchronous belt; 3-4. Large synchronous pulley; 3-5. Right worm gear reducer; 3-6. Left worm gear reducer; 3-7. Left pin; 3-8. Left gripper; 3-9. Right pin; 3-10. Right gripper; 3-11. L-shaped connecting plate; 3-12. Reducer connecting plate. Detailed Implementation

[0014] The specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings and technical solutions.

[0015] A worm gear type end effector suitable for a tool changer robot of a full-face tunnel boring machine includes an end housing 1, a lateral ejection mechanism 2, and a gripper drive mechanism 3;

[0016] The lateral ejection mechanism 2 includes an electric push rod 2-2, a roller 2-1, and a sealing cover 2-3. The electric push rod 2-2 is installed in the cavity of the end housing 1. The front flange of the electric push rod 2-2 is fixed to the end housing 1. The push rod lug of the electric push rod 2-2 is connected to the roller 2-1. The sealing cover 2-3 seals the cavity of the end housing 1. When the electric push rod 2-2 is energized, it can push the push rod outward, push the roller 2-1 against the inner wall of the cutter box, and then push the cutter out laterally.

[0017] The gripper drive mechanism 3 includes a servo motor 3-1, a small synchronous pulley 3-2, a synchronous belt 3-3, a large synchronous pulley 3-4, a right worm gear reducer 3-5, a left worm gear reducer 3-6, a left pin 3-7, a left gripper 3-8, a right pin 3-9, a right gripper 3-10, an L-shaped connecting plate 3-11, and a reducer connecting plate 3-12. The left worm gear reducer 3-6 and the right worm gear reducer 3-5 are connected to the end housing 1. The worm output shaft of the right worm gear reducer 3-5 is inserted into the worm input hole of the left worm gear reducer 3-6. The worm gear reducer 3-6 and the right worm gear reducer 3-5 have opposite worm rotation directions. The left worm gear reducer 3-6 and the right worm gear reducer 3-5 are connected by a reducer connecting plate 3-12. The servo motor 3-1 is fixed to the upper part of the right worm gear reducer 3-5 by an L-shaped connecting plate 3-11. The small synchronous pulley 3-2 is circumferentially fixed to the motor shaft of the servo motor 3-1 by a flat key. The large synchronous pulley 3-4 is circumferentially fixed to the input shaft of the right worm gear reducer 3-5 by a flat key. The left gripper 3-8 and the right gripper 3-10 are respectively connected to the left pin 3-7 and the right pin 3-9. The left worm gear reducer 3-6 is connected to the worm output hole of the right worm gear reducer 3-5. Keyways are provided on the left pin 3-7 and right pin 3-9, respectively, to further connect with the left gripper 3-8 and right gripper 3-10 via flat keys, corresponding to the worm output holes of the left worm gear reducer 3-6 and right worm gear reducer 3-5. The left pin 3-7 and right pin 3-9 are installed in pre-drilled pin holes on the end housing 1. The servo motor 3-1 rotates, driving the small synchronous pulley 3-2. The small synchronous pulley 3-2 drives the large synchronous pulley 3-4 via the synchronous belt 3-3. The large synchronous pulley 3-4... The worm input shaft connected to the right worm gear reducer 3-5 drives the right worm gear reducer 3-5 to rotate. The worm output shaft of the right worm gear reducer 3-5 is inserted into the worm input shaft hole of the left worm gear reducer 3-6 and rotates synchronously. Since the worms of the right worm gear reducer 3-5 and the left worm gear reducer 3-6 rotate in opposite directions, the worm wheels of the right worm gear reducer 3-5 and the left worm gear reducer 3-6 rotate in opposite directions. This, through the right pin 3-9 and the left pin 3-7, drives the right jaw 3-10 and the left jaw 3-8 to rotate in opposite directions, thereby realizing the opening and closing of the jaws.

[0018] A tool changing method using a worm gear end effector suitable for a tool changing robot of a full-face tunnel boring machine includes the following steps:

[0019] Step 1: The end effector penetrates into the tool box to grip the hob. The right jaw 3-10 and the left jaw 3-8 rotate in opposite directions around the central axis of the pin under the drive of the jaw drive mechanism 3, thereby opening and closing to grip the hob.

[0020] Step 2: After the gripper picks up the hob, push the hob out from the inside of the tool box. The electric push rod extends from the chamber of the end housing 11 and pushes the roller 2-1 against the inner wall of the tool box, moving the hob inside the tool box.

[0021] Step 3: After moving laterally to the designated position, the end effector grips the hob and pulls it backward, then transports the hob out of the cutter head area.

[0022] At this point, the disassembly of the old hob is complete. The installation process for the new hob is the complete opposite of the above process.

Claims

1. A worm gear type end effector suitable for a tool changer robot of a full-face tunnel boring machine, characterized in that, The worm gear end effector includes an end housing (1), a lateral ejection mechanism (2), and a gripper drive mechanism (3). The lateral ejection mechanism (2) includes an electric push rod (2-2), a roller (2-1), and a sealing cover (2-3). The electric push rod (2-2) is installed in the chamber of the end box (1). The front flange of the electric push rod (2-2) is fixed on the end box (1). The push rod lug of the electric push rod (2-2) is connected to the roller (2-1). The sealing cover (2-3) seals the chamber of the end box (1). When the electric push rod (2-2) is energized, it can push the push rod outward, push the roller (2-1) against the inner wall of the cutter box, and then push the cutter out laterally. The gripper drive mechanism (3) includes a servo motor (3-1), a small synchronous pulley (3-2), a synchronous belt (3-3), a large synchronous pulley (3-4), a right worm gear reducer (3-5), a left worm gear reducer (3-6), a left pin (3-7), a left gripper (3-8), a right pin (3-9), a right gripper (3-10), an L-shaped connecting plate (3-11), and a reducer connecting plate (3-12). The left worm gear reducer (3-6) and the right worm gear reducer (3-5) are connected to the end housing (1). The worm output shaft of the right worm gear reducer (3-5) is inserted into the worm input hole of the left worm gear reducer (3-6). The worm gear reducer (3-6) and the right worm gear reducer (3-5) have opposite worm rotation directions. The left worm gear reducer (3-6) and the right worm gear reducer (3-5) are connected by a reducer connecting plate (3-12). The servo motor (3-1) is fixed to the upper part of the right worm gear reducer (3-5) by an L-shaped connecting plate (3-11). The small synchronous pulley (3-2) is circumferentially fixed to the motor shaft of the servo motor (3-1) by a flat key. The large synchronous pulley (3-4) is circumferentially fixed to the input shaft of the right worm gear reducer (3-5) by a flat key. The left gripper (3-8) and the right gripper (3-10) are respectively connected by the left pin (3-7) and the right pin (3-10). 9) Corresponding to the turbine output holes of the left worm gear reducer (3-6) and the right worm gear reducer (3-5), keyways are opened on the left pin (3-7) and the right pin (3-9) to further connect with the left jaw (3-8) and the right jaw (3-10) via flat keys, respectively, corresponding to the turbine output holes of the left worm gear reducer (3-6) and the right worm gear reducer (3-5). The left pin (3-7) and the right pin (3-9) are installed in the pin holes reserved on the end housing (1); the servo motor (3-1) rotates to drive the small synchronous pulley (3-2), and the small synchronous pulley (3-2) drives the large synchronous pulley (3-4) through the synchronous belt (3-3). The pulley (3-4) is connected to the worm input shaft of the right worm gear reducer (3-5), driving the right worm gear reducer (3-5) to rotate. The worm output shaft of the right worm gear reducer (3-5) is inserted into the worm input shaft hole of the left worm gear reducer (3-6) and rotates synchronously. Since the worm of the right worm gear reducer (3-5) and the worm of the left worm gear reducer (3-6) rotate in opposite directions, the worm wheel of the right worm gear reducer (3-5) and the worm wheel of the left worm gear reducer (3-6) rotate in opposite directions. Thus, the right chuck (3-10) and the left chuck (3-8) are driven to rotate in opposite directions through the right pin (3-9) and the left pin (3-7), thereby realizing the opening and closing of the chuck.

2. A method for changing tools using the worm gear end effector of the tool changing robot for a full-face tunnel boring machine as described in claim 1, characterized in that, Includes the following steps: Step 1: The end effector penetrates into the tool box to grip the hob. The right (3-10) and left (3-8) grippers rotate in opposite directions around the central axis of the pin under the drive of the gripper drive mechanism (3), thereby opening and closing to grip the hob. Step 2: After the gripper picks up the hob, push the hob out from the inside of the tool box. The electric push rod extends from the chamber of the end box (11) and pushes the roller (2-1) against the inner wall of the tool box, moving the hob inside the tool box. Step 3: After moving laterally to the designated position, the end effector grips the hob and pulls it backward, then transports the hob out of the cutter head area.

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