Multi-degree-of-freedom mechanical arm for replacing a disc cutter of a tunnel boring machine

Abstract

This invention relates to the field of robotic arms, and in particular to a multi-degree-of-freedom cutterhead replacement robotic arm for tunnel boring machines (TBMs). Addressing the problem that existing TBM cutterhead replacement robotic arms cannot clean mud and rocks from the cutterheads, this invention proposes the following solution: a robotic arm comprising a base and a movable arm mounted on the base; a drive unit comprising a base, a slide rail mounted on top of the base, and a drive mechanism on the base for driving the base to move along the outer periphery of the slide rail; and a gripping unit mounted at the end of the movable arm for gripping the cutterhead, the gripping unit comprising a fixed plate, a mounting tube mounted on the fixed plate, a mounting seat fixed to the other end of the mounting tube, and a clamping mechanism mounted on the mounting seat. This invention not only allows for more flexible disassembly and gripping of the cutterheads, but also facilitates the flushing of mud from the cutterhead surface and the cutterhead installation space before disassembly, significantly reducing the workload of workers.

Description

Technical Field

[0001] This invention relates to the field of robotic arms, and more particularly to a multi-degree-of-freedom cutterhead changing robotic arm for tunnel boring machines. Background Technology

[0002] Tunnel boring machines (TBMs) are used in the process of excavating tunnels. When the TBM is running, it relies on the cutter head installed on its head to crush the rocks and soil in the path. Due to the harsh and complex underground geology, the cutter head will wear out or be damaged after a period of use. Therefore, it is necessary to replace the damaged cutter head in a timely manner.

[0003] Traditionally, the replacement of cutterheads is done manually. Due to the large mass of the cutterheads, the replacement process is inefficient. Currently, with the development of robotics technology, using robotic arms to replace cutterheads has greatly reduced the difficulty of operation for workers. However, during the tunnel boring machine (TBM) excavation process, the surface of the cutterheads often has a lot of mud adhering to it, and the space where the cutterheads are installed is often filled with a lot of soil. Therefore, before replacing the cutterheads, it is necessary to clean the mud and rocks from the cutterhead surface and the space where the cutterheads are installed. However, the existing robotic arms have simple functions, only having basic gripping capabilities, and cannot quickly clean the mud. Therefore, this solution proposes a multi-degree-of-freedom robotic arm for replacing cutterheads in TBMs. Summary of the Invention

[0004] The present invention proposes a multi-degree-of-freedom cutter replacement robotic arm for tunnel boring machines, which solves the problem that existing robotic arms for cutter replacement cannot clean mud and rocks from the cutters.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: A multi-degree-of-freedom cutterhead changing robotic arm for a tunnel boring machine includes: A robotic arm, comprising a base and a movable arm mounted on the base; The drive unit includes a base, a slide rail mounted on top of the base, and a drive mechanism on the base for driving the base to move along the outer periphery of the slide rail. The gripping part is installed at the end of the movable arm and is used to grip the roller cutter. The gripping part includes a fixed plate, an installation tube installed on the fixed plate, an installation seat fixed on the other end of the installation tube, and a clamping mechanism installed on the installation seat. The installation seat has a water storage cavity communicating with the installation tube. The fixed plate is equipped with a transmission mechanism for driving the installation tube to rotate. The clamping mechanism includes two fixing components on the outer wall of the mounting base away from the mounting tube and an adjusting component mounted on the mounting base for adjusting the distance between the two fixing components. The fixing components include a hollow movable plate, a fixed shaft rotatably connected to the movable plate, and a clamping plate fixed to one end of the fixed shaft. A nozzle communicating with the water storage chamber is installed at the end of the movable plate away from the mounting base, and a flexible hose communicating with the interior of the movable plate is installed on one side of the movable plate. The mounting base is also equipped with a connecting mechanism for driving the fixed shaft to rotate when the movable plate moves.

[0006] The above technical solution not only allows for more flexible disassembly and gripping of the roller cutter, but also facilitates the washing away of soil from the surface of the roller cutter and the installation space before disassembly. Furthermore, it automatically removes the soil adhering to the clamp plate when the roller cutter is lowered, greatly reducing the workload of the workers.

[0007] As a further improvement to the above solution, the movable arm includes a first swing arm rotatably connected to one end of the base, a second swing arm rotatably connected to the other end of the first swing arm, a third swing arm rotatably connected to the other end of the second swing arm, and a fourth swing arm rotatably connected to the other end of the third swing arm. A motor 1 for driving the first swing arm to rotate about the base axis is installed on the base. A motor 2 for driving the third swing arm to rotate about the second swing arm axis is installed on the second swing arm. A motor 3 for driving the second swing arm to swing left and right is installed on the first swing arm. A motor 4 for driving the fourth swing arm to rotate left and right is installed on the third swing arm. The other end of the fourth swing arm is fixed with a mounting shaft that is fixed to the fixed plate.

[0008] As a further improvement to the above solution, the mounting pipe includes a fixed pipe fixed to the outer wall of one side of the fixed plate and a movable pipe rotatably connected to the other end of the fixed pipe. A water supply pipe is installed on the fixed pipe, and a solenoid valve is installed on the water supply pipe. The other end of the movable pipe is fixedly connected to the mounting base and communicates with the interior of the mounting base.

[0009] As a further improvement to the above solution, the transmission mechanism includes a support plate mounted on the circular surface of the fixed disk near the mounting tube, a connecting shaft rotatably connected to the support plate, a transmission gear fixed to one end of the connecting shaft, and a telescopic component mounted on the fixed disk. The output end of the telescopic component is fixed with a transmission rack that meshes with the transmission gear. The other end of the connecting shaft is connected to the movable tube. A pressurizing assembly is mounted on the movable tube. The pressurizing assembly includes a movable disk movably sleeved on the outer circumference of the movable tube and an air cylinder mounted on the mounting base. The air cylinder communicates with the interior of the mounting base. A piston plate is installed inside the air cylinder. A piston rod is fixed to one end of the piston plate, and the other end of the piston rod is fixedly connected to the movable disk. A return spring is connected between the movable disk and the mounting base. The movable disk abuts against the transmission rack.

[0010] As a further improvement to the above solution, the mounting base has a mounting groove along its length on the side away from the mounting tube. The adjustment assembly includes a bidirectional screw rotatably connected in the mounting groove and two moving blocks threaded onto the opposite portions of the two threads on the outer circumference of the bidirectional screw. One end of each of the two moving blocks is fixedly connected to two moving plates. A drive motor for driving the bidirectional screw to rotate is mounted on the mounting base.

[0011] As a further improvement to the above solution, the connecting mechanism includes a fixing plate fixed on the mounting base and a fixing sleeve fixed on the fixing plate. A guide groove is provided on the inner wall of the fixing sleeve. The outer circumference of the fixing shaft matches the inner ring of the fixing sleeve, and a guide rod is fixed on the outer circumference of the fixing shaft. One end of the guide rod extends into the guide groove and slides therewith. The guide groove includes a second sliding groove arranged along the axial direction of the fixing sleeve and a first sliding groove located at the end of the second sliding groove away from the clamping plate. The first sliding groove surrounds the inner wall of the fixing sleeve and extends to the side away from the second sliding groove.

[0012] The above technical solution allows the fixed shaft to rotate while it moves inside the fixed sleeve.

[0013] As a further improvement to the above solution, the mounting base is also equipped with protective mechanisms located on both sides of the clamping mechanism. The protective mechanisms include two side plates rotatably connected to the outer wall of the mounting base on the side where the movable plate is mounted, and a linkage component mounted on the mounting base for driving the side plates to open and close when the two movable plates move.

[0014] As a further improvement to the above solution, the mounting base has two fixing slots on one side where the clamping mechanism is installed. The two fixing slots are located on the two long sides of the mounting base respectively. A rotating shaft is rotatably connected in the fixing slot. The side plate is fixed to the outer circumference of the rotating shaft. A linkage gear is sleeved on the outer circumference of the rotating shaft. The linkage assembly includes a linkage rack installed in the fixing slot and meshing with the linkage gear, and an abutment block threaded onto the outer circumference of the bidirectional screw. The end of the abutment block near the linkage rack is an isosceles trapezoidal structure. One end of the linkage rack extends into the mounting slot and abuts against the inclined surface of the abutment block.

[0015] As a further improvement to the above solution, an elastic element is installed on the linkage rack. Buffer holes coaxially arranged with the linkage rack are opened on both long sides of the mounting groove. The elastic element includes a spring clip sleeved on the outer periphery of the linkage rack and a spring sleeved on the outer periphery of the linkage rack. One end of the spring is fixedly connected to the inner wall of the buffer hole, and the other end of the spring is fixedly connected to the spring clip.

[0016] The above technical solution utilizes the elastic force of a spring to drive the linkage rack to automatically return to its original position, thereby causing the side plate to automatically open outward.

[0017] As a further improvement to the above solution, a limiting groove is provided on one long side of the slide rail along its length direction. The driving mechanism includes a transmission screw rotatably connected in the limiting groove, a connecting block threaded around the outer periphery of the transmission screw, and a sliding plate slidably connected around the outer periphery of the slide rail. Both ends of the connecting block extend to the outside of the slide rail and are fixedly connected to the sliding plate.

[0018] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. By using a robotic arm, drive unit, and gripping unit, the hobbing cutter can be easily and effortlessly gripped and moved to the installation location, thus greatly reducing the difficulty of operation for the operator.

[0019] 2. Through the cooperation between the clamping mechanism, transmission mechanism, mounting base, mounting pipe and nozzle, water can be supplied to the nozzle before disassembling and assembling the cutter, and the mounting base can be driven to rotate at the same time. In this way, the water sprayed from the nozzle can be used to flush away the cutter to be disassembled and the mud in the cutter space, so as to prevent the mud from affecting the installation of the new cutter.

[0020] 3. By setting up a connecting mechanism, after the clamping plates release the cutter, the clamping plates can be automatically driven to rotate as they move away from each other, thereby shaking off the residual dirt on the clamping plates and preventing dirt from sticking to the surface of the clamping plates.

[0021] Through the cooperation between the protective mechanism and the transmission mechanism, the side plates can be driven to open or close while the bidirectional screw rotates. This allows the side plates to close between the clamping cutters, and the two side plates block the long sides of the mounting base, thus preventing the cutters from slipping off the sides of the mounting base during the gripping and moving process. When the clamping plates release the cutters, the two side plates can be automatically driven to open outward. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the gripping part of the present invention; Figure 3 This is a schematic diagram of the structure of the clamping plate and nozzle of the present invention; Figure 4 A structural diagram of the mounting groove, abutment block, and linkage rack; Figure 5 This is a structural diagram of the fixing sleeve and the fixing shaft; Figure 6 This is a schematic diagram of the drive unit.

[0023] Explanation of key symbols: 1. Base; 2. Slide rail; 3. Base; 4. Slide plate; 5. First swing arm; 6. Second swing arm; 7. Third swing arm; 8. Fourth swing arm; 9. Mounting shaft; 10. Fixed plate; 11. Mounting seat; 12. Telescopic component; 13. Fixed tube; 14. Movable tube; 15. Transmission gear; 16. Transmission rack; 17. Fixed plate; 18. Fixed sleeve; 19. Moving plate; 20. Clamping plate; 21. Flexible hose; 22. Side plate 23. Nozzle; 24. Linkage gear; 25. Abutment block; 26. Mounting groove; 27. Bidirectional screw; 28. Moving block; 29. ​​Fixed groove; 30. Rotating shaft; 31. Linkage rack; 32. Buffer hole; 33. Spring clip; 34. Fixed shaft; 35. Slide groove one; 36. Slide groove two; 37. Guide rod; 38. Transmission screw; 39. Connecting block; 40. Water supply pipe; 41. Movable disc; 42. Air cylinder. Detailed Implementation

[0024] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0025] Example 1

[0026] Please combine Figure 1 - Figure 6 This embodiment of a multi-degree-of-freedom cutterhead changing robotic arm for a tunnel boring machine includes: The robotic arm includes a base 3 and a movable arm mounted on the base 3. The movable arm includes a first swing arm 5 rotatably connected to one end of the base 3, a second swing arm 6 rotatably connected to the other end of the first swing arm 5, a third swing arm 7 rotatably connected to the other end of the second swing arm 6, and a fourth swing arm 8 rotatably connected to the other end of the third swing arm 7. A motor 1 for driving the first swing arm 5 to rotate about the axis of the base 3 is mounted on the base 3. A motor 2 for driving the third swing arm 7 to rotate about the axis of the second swing arm 6 is mounted on the second swing arm 6. A motor 3 for driving the second swing arm 6 to swing left and right is mounted on the first swing arm 5. A motor 4 for driving the fourth swing arm 8 to rotate left and right is mounted on the third swing arm 7. The other end of the fourth swing arm 8 is fixed to a mounting shaft 9 that is fixed to a fixed plate 10. The arrangement of the base 3, the first swing arm 5, the second swing arm 6, the third swing arm 7, and the fourth swing arm 8 allows the robotic arm to rotate and extend in different directions, thereby enabling more flexible gripping and installation of the hobbing cutter.

[0027] The drive unit includes a base 1, a slide rail 2 mounted on the top of the base 1, and a drive mechanism on the base 1 for driving a base 3 to move along the outer periphery of the slide rail 2. A limiting groove is formed along the length of one long side of the slide rail 2. The drive mechanism includes a transmission screw 38 rotatably connected in the limiting groove, a connecting block 39 threaded onto the outer periphery of the transmission screw 38, and a sliding plate 4 slidably connected to the outer periphery of the slide rail 2. Both ends of the connecting block 39 extend to the outside of the slide rail 2 and are fixedly connected to the sliding plate 4. The bottom surface of the connecting block 39 abuts against the bottom surface of the limiting groove. A transmission mechanism is installed at one end of the slide rail 2. The output shaft of the motor is fixedly connected to one end of the transmission screw 38. The entire robotic arm is moved by the drive unit, which can help to send the gripped cutter into the installation space or remove the cutter from the tunnel boring machine. Specifically, when the drive motor rotates, it drives the transmission screw 38 to rotate. The transmission screw 38 then drives the connecting block 39 to move. After the connecting block 39 moves, it can drive the slide plate 4 to move along the outer periphery of the slide rail 2. Finally, the robotic arm moves synchronously with the slide plate 4. When the drive motor rotates forward, the slide plate 4 moves to the right. When the drive motor rotates in reverse, the slide plate 4 moves to the left.

[0028] The gripping part is installed at the end of the movable arm and is used to grip the roller cutter. The gripping part includes a fixed plate 10, an installation tube installed on the fixed plate 10, a mounting seat 11 fixed on the other end of the installation tube, and a clamping mechanism installed on the mounting seat 11. The mounting seat 11 has a water storage cavity that communicates with the installation tube. The installation tube includes a fixed tube 13 fixed to one side of the outer wall of the fixed plate 10 and a movable tube 14 rotatably connected to the other end of the fixed tube 13. A water supply pipe 40 is installed on the fixed tube 13, and a solenoid valve is installed on the water supply pipe 40. The other end of the movable tube 14 is fixedly connected to the mounting seat 11 and communicates with the inside of the mounting seat 11. The water supply pipe 40 is connected to its external water pipe. After the solenoid valve is opened, water can be supplied to the fixed tube 13 through the water supply pipe 40, and then the water enters the water storage cavity from the installation tube as a water source for cleaning the roller cutter and the soil in the roller cutter installation space.

[0029] The clamping mechanism includes two fixing components located on the outer wall of the mounting base 11 away from the mounting tube, and an adjusting component mounted on the mounting base 11 for adjusting the distance between the two fixing components. Each fixing component includes a hollow movable plate 19, a fixed shaft 34 rotatably connected to the movable plate 19, and a clamping plate 20 fixed to one end of the fixed shaft 34. A nozzle 23 communicating with a water storage chamber is installed at the end of the movable plate 19 away from the mounting base 11. A flexible hose 21 communicating with the interior of the movable plate 19 is installed on one side of the movable plate 19. Water from the water storage chamber is input into the nozzle 23 and then sprayed out, thereby... To flush away the dirt on the surface of the roller cutter and in the roller cutter installation space, the gripping unit, driven by the robotic arm, moves to the position of the roller cutter to be replaced. First, the solenoid valve is opened, and water from the external water pipe enters the installation pipe, then enters the water storage chamber in the mounting base 11 through the installation pipe. The water in the water storage chamber then enters the moving plate 19 through the hose 21, and finally enters the nozzle 23 and is sprayed out. The nozzle is aimed at the roller cutter or the roller cutter installation space, so that the dirt can be flushed away by the impact force of the water flow, thus achieving the purpose of cleaning the roller cutter and the roller cutter installation space.

[0030] A transmission mechanism for driving the installation tube to rotate is installed on the fixed disk 10. The transmission mechanism includes a support plate mounted on the circular surface of the fixed disk 10 near the installation tube, a connecting shaft rotatably connected to the support plate, a transmission gear 15 fixed to one end of the connecting shaft, and a telescopic member 12 mounted on the fixed disk 10. A transmission rack 16 meshing with the transmission gear 15 is fixed to the output end of the telescopic member 12. A driving bevel gear is fixed to the other end of the connecting shaft. A driven bevel gear meshing with the driving bevel gear is sleeved on the outer periphery of the movable tube 14. The telescopic member 12 is an electric telescopic rod. The transmission mechanism drives the movable pipe 14 to rotate while the nozzle 23 sprays water, thereby causing the mounting base 11 and the nozzle 23 to rotate simultaneously. This allows the water flow to wash different positions on the tunnel boring machine, accelerating the cleaning speed. Specifically, during the extension and retraction of the telescopic component 12, the transmission rack 16 moves back and forth. During the back and forth movement of the transmission rack 16, the transmission gear 15 rotates back and forth. The transmission gear 15 then drives the active bevel gear to rotate back and forth synchronously, thereby driving the movable pipe 14 to rotate back and forth, thus achieving the purpose of driving the mounting base 11 to rotate.

[0031] A pressurizing assembly is installed on the movable tube 14. The pressurizing assembly includes a movable disc 41 movably sleeved on the outer periphery of the movable tube 14 and an air cylinder 42 mounted on the mounting base 11. The air cylinder 42 is internally connected to the mounting base 11. A piston plate is installed inside the air cylinder 42. A piston rod is fixed to one end of the piston plate, and the other end of the piston rod is fixedly connected to the movable disc 41. An air inlet pipe is installed on the outer wall of the air cylinder 42, and a one-way valve is installed on the air inlet pipe. A return spring is connected between the movable disc 41 and the mounting base 11. The return spring is sleeved on the outer periphery of the movable tube 14, with one end fixedly connected to the movable disc 41 and the other end fixedly connected to the mounting base 11. 1. When the movable rack 16 extends, it presses the movable disc 41 closer to the mounting base 11. At this time, the return spring is compressed, so that the air in the air cylinder 42 enters the water storage chamber in the mounting base 11. The pressure in the water storage chamber 11 increases, making the water flow from the nozzle 23 stronger. When the movable rack 16 moves away from the mounting base 11, the movable disc 11 moves away from the mounting base 11 under the action of the return spring, which in turn drives the piston rod to move away from the mounting base 11. The outside air then enters the air cylinder 42, thus reserving for the next pressurization.

[0032] The mounting base 11 has a mounting groove 26 along its length on the side away from the mounting tube. The adjusting assembly includes a bidirectional screw 27 rotatably connected in the mounting groove 26 and two moving blocks 28 threaded onto opposite portions of the two threads on the outer periphery of the bidirectional screw 27. One end of each moving block 28 is fixedly connected to a moving plate 19. A drive motor is mounted on the mounting base 11 to drive the bidirectional screw 27 to rotate. The rotation of the drive motor drives the two moving plates 19 to move closer or further apart, thereby causing the two clamping plates 20 to move closer or further apart. When the plates 20 come close together, the hob can be clamped between the two clamping plates 20. When the two clamping plates 20 move away from each other, the clamped hob can be released. Specifically, after the drive motor rotates forward, it drives the bidirectional screw 27 to rotate forward, and the two moving blocks 28 move closer together, which in turn drives the two moving plates 19 to move closer together until the two clamping plates 20 clamp the hob tightly and then the rotation of the drive motor stops. Conversely, when it is necessary to release the clamped hob, the drive motor can be driven to rotate, which will drive the two moving plates 19 to move away from each other, thereby releasing the clamped hob.

[0033] The mounting base 11 is also equipped with a connecting mechanism for driving the fixed shaft 34 to rotate when the moving plate 19 moves. The connecting mechanism includes a fixed plate 17 fixed on the mounting base 11 and a fixed sleeve 18 fixed on the fixed plate 17. A guide groove is provided on the inner wall of the fixed sleeve 18. The outer circumference of the fixed shaft 34 matches the inner ring of the fixed sleeve 18, and a guide rod 37 is fixed on the outer circumference of the fixed shaft 34. One end of the guide rod 37 extends into the guide groove and slides therewith. The guide groove includes a second slide groove 36 arranged along the axial direction of the fixed sleeve 18 and a first slide groove 35 located at the end of the second slide groove 36 away from the clamping plate 20. The first slide groove 35 surrounds the inner wall of the fixed sleeve 18 and extends to the side away from the second slide groove 36. When the clamping plate 20 clamps the damaged hob, the dirt on the surface of the hob will remain. The soil remains on the surface of the clamping plate 20. By rotating the clamping plate 20, centrifugal force can be used to throw off the soil. Specifically, when the fixed shaft 34 moves with the moving plate 19, the fixed shaft 34 also moves inside the fixed sleeve 18. During the movement of the fixed shaft 34 inside the fixed sleeve 18, the guide rod 37 slides along the guide groove. When the guide rod 37 slides in the second slide groove 36, the fixed shaft 34 only moves along the axial direction of the fixed sleeve 18 and does not rotate. When the fixed shaft 34 moves into the first slide groove 35, it can rotate under the guidance of the first slide groove 35 during the movement along the axial direction of the fixed sleeve 18, thereby driving the clamping plate 20 to rotate synchronously. Finally, the soil stuck to the surface of the clamping plate 20 can be thrown off by centrifugal force.

[0034] Example 2

[0035] Combination Figure 2 - Figure 4 This embodiment is further improved on the basis of embodiment 1 in that: a protective mechanism is also installed on the mounting base 11 on both sides of the clamping mechanism. The protective mechanism includes two side plates 22 rotatably connected to the outer wall of the side on which the moving plate 19 is installed on the mounting base 11, and a linkage component installed on the mounting base 11 for driving the side plates 22 to open and close when the two moving plates 19 move. After the two clamping plates 20 clamp the cutter, the two side plates 22 can block the two sides of the clamping plates 20, that is, block the other two sides of the cutter, thereby preventing the cutter from falling off the side of the clamping plates 20 during the transfer process. Specifically, when the two clamping plates 20 approach each other, the two side plates 22 gradually close under the drive of the linkage component, and completely close before the clamping plates 20 clamp the cutter, presenting a state perpendicular to the surface of the mounting base 11. Similarly, after the two clamping plates 20 move away from each other, the two side plates 22 will open outward again under the action of the linkage component until they present a state parallel to the surface of the mounting base 11.

[0036] Two fixing slots 29 are provided on one side of the mounting base 11 where the clamping mechanism is installed. The two fixing slots 29 are located on the two long sides of the mounting base 11 respectively. A rotating shaft 30 is rotatably connected in the fixing slot 29. The side plate 22 is fixed to the outer periphery of the rotating shaft 30. A linkage gear 24 is sleeved on the outer periphery of the rotating shaft 30. The linkage assembly includes a linkage rack 31 installed in the fixing slot 29 and meshing with the linkage gear 24, and an abutment block 25 threadedly sleeved on the outer periphery of one section of the thread of the bidirectional screw 27. The end of the abutment block 25 near the linkage rack 31 is equal to... The structure is trapezoidal, with the other end of the abutment block 25 being rectangular. One end of the linkage rack 31 extends into the mounting groove 26 and abuts against the inclined surface of the abutment block 25. The movement of the abutment block 25 pushes the linkage rack 31 outward, thereby driving the side plate 22 to rotate. This achieves the purpose of opening and closing the side plate while the moving plate 19 moves. Specifically, after the bidirectional screw 27 rotates clockwise, the two moving plates 19 approach each other, and the abutment block 25 moves towards the side closer to the linkage rack 31 under the drive of the bidirectional screw 27. After contacting the linkage rack 31, the linkage rack 31 will be pushed outward during the continued movement. At this time, the linkage rack 31 will drive the linkage gear 24 to rotate clockwise, thereby driving the rotating shaft 30 to rotate clockwise, which in turn can drive the side plate 22 to gradually close. Until the linkage rack 31 moves to one side plane of the contact block 25, the linkage rack 31 will no longer move outward, and the side plate 22 will be fully opened and will not rotate during the continued clockwise rotation of the bidirectional screw 27 until the clamping plate 20 clamps the hob. Conversely, the bidirectional screw 27 will rotate and drive the hob to close. After the two movable plates 19 move away from each other and the hob is released, the abutment block 25 also moves away from the linkage rack 31 until the linkage rack 31 abuts against the inclined side of the abutment block 25 again. After that, as the abutment block 25 continues to move, the linkage rack 31 disengages from the abutment block 25 until it returns to its original position. Finally, the two side plates 22 are opened outward. During the process of the side plates 22 opening outward, the linkage rack 31 is also driven by the linkage gear 24 to move into the mounting groove 26 until it returns to its initial position.

[0037] An elastic element is installed on the linkage rack 31. Buffer holes 32, coaxially aligned with the linkage rack 31, are provided on both long sides of the mounting groove 26. The elastic element includes a spring catch 33 sleeved around the outer periphery of the linkage rack 31 and a spring sleeved around the outer periphery of the linkage rack 31. One end of the spring is fixedly connected to the inner wall of the buffer hole 32, and the other end is fixedly connected to the spring catch 33. Through the installation of the elastic element, the linkage rack 31 can automatically move towards the mounting groove as the abutment block 25 moves away from it. The inner side of 26 moves to achieve the purpose of automatically driving the side plate 22 to open. Specifically, while the abutment block 25 pushes the linkage rack 31 outward, the spring is continuously compressed. After the abutment block 25 moves away from the linkage rack 31, as the linkage rack 31 re-abuts against the inclined surface of the abutment block 25, and while the abutment block 25 continues to move away from the linkage rack 31, the linkage rack 31 will gradually slide along the inclined surface of the abutment block 25 towards the side closer to the mounting groove 26 until it returns to its original position.

[0038] The above embodiments are merely preferred embodiments of the present invention and should not be construed as limiting the scope of protection of the present invention. Any non-substantial changes and substitutions made by those skilled in the art based on the present invention shall fall within the scope of protection claimed by the present invention.

Claims

1. A multi-degree-of-freedom cutterhead changing robotic arm for a tunnel boring machine, characterized in that, include: A robotic arm, comprising a base and a movable arm mounted on the base; The drive unit includes a base, a slide rail mounted on top of the base, and a drive mechanism on the base for driving the base to move along the outer periphery of the slide rail. The gripping part is installed at the end of the movable arm and is used to grip the roller cutter. The gripping part includes a fixed plate, an installation tube installed on the fixed plate, an installation seat fixed on the other end of the installation tube, and a clamping mechanism installed on the installation seat. The installation seat has a water storage cavity communicating with the installation tube. The fixed plate is equipped with a transmission mechanism for driving the installation tube to rotate. The clamping mechanism includes two fixing components on the outer wall of the mounting base away from the mounting tube and an adjusting component mounted on the mounting base for adjusting the distance between the two fixing components. The fixing components include a hollow movable plate, a fixed shaft rotatably connected to the movable plate, and a clamping plate fixed to one end of the fixed shaft. A nozzle communicating with the water storage chamber is installed at the end of the movable plate away from the mounting base. A flexible hose communicating with the interior of the movable plate is installed on one side of the movable plate. A connecting mechanism for driving the fixed shaft to rotate when the movable plate moves is also installed on the mounting base. The mounting tube includes a fixed tube fixed to one side of the outer wall of the fixed plate and a movable tube rotatably connected to the other end of the fixed tube. A water supply pipe is installed on the fixed tube, and a solenoid valve is installed on the water supply pipe. The other end of the movable tube is fixedly connected to the mounting seat and communicates with the interior of the mounting seat. The transmission mechanism includes a support plate installed on the circular surface of the fixed plate near the mounting tube, a connecting shaft rotatably connected to the support plate, a transmission gear fixed to one end of the connecting shaft, and a telescopic component installed on the fixed plate. The output end of the telescopic component is fixed with a transmission rack that meshes with the transmission gear. The other end of the connecting shaft is connected to the movable tube. A pressurizing component is installed on the movable tube. The pressurizing component includes a movable plate movably sleeved on the outer circumference of the movable tube and an air cylinder installed on the mounting seat. The air cylinder communicates with the interior of the mounting seat. A piston plate is installed inside the air cylinder. A piston rod is fixed to one end of the piston plate. The other end of the piston rod is fixedly connected to the movable plate. A return spring is connected between the movable plate and the mounting seat. The movable plate abuts against the transmission rack. The mounting base has a mounting groove along its length on the side away from the mounting tube. The adjustment assembly includes a bidirectional screw rotatably connected in the mounting groove and two moving blocks threaded onto the opposite portions of the two threads on the outer periphery of the bidirectional screw. One end of each of the two moving blocks is fixedly connected to two moving plates. A drive motor for driving the bidirectional screw to rotate is mounted on the mounting base. The connecting mechanism includes a fixing plate fixed on the mounting base and a fixing sleeve fixed on the fixing plate. A guide groove is provided on the inner wall of the fixing sleeve. The outer circumference of the fixing shaft matches the inner ring of the fixing sleeve, and a guide rod is fixed on the outer circumference of the fixing shaft. One end of the guide rod extends into the guide groove and slides therewith. The guide groove includes a second sliding groove arranged along the axial direction of the fixing sleeve and a first sliding groove located at the end of the second sliding groove away from the clamping plate. The first sliding groove surrounds the inner wall of the fixing sleeve and extends to the side away from the second sliding groove. The mounting base is also equipped with protective mechanisms located on both sides of the clamping mechanism. The protective mechanisms include two side plates rotatably connected to the outer wall of the mounting base on the side where the movable plate is mounted, and a linkage component mounted on the mounting base for driving the side plates to open and close when the two movable plates move. The mounting base has two fixing slots on one side where the clamping mechanism is installed. The two fixing slots are located on the two long sides of the mounting base respectively. A rotating shaft is rotatably connected in the fixing slot. The side plate is fixed to the outer circumference of the rotating shaft. A linkage gear is sleeved on the outer circumference of the rotating shaft. The linkage assembly includes a linkage rack installed in the fixing slot and meshing with the linkage gear, and an abutment block threaded onto the outer circumference of the bidirectional screw. The end of the abutment block near the linkage rack is an isosceles trapezoidal structure. One end of the linkage rack extends into the mounting slot and abuts against the inclined surface of the abutment block. An elastic element is installed on the linkage rack. Buffer holes coaxial with the linkage rack are provided on both long sides of the mounting groove. The elastic element includes a spring clip sleeved around the outer periphery of the linkage rack and a spring sleeved around the outer periphery of the linkage rack. One end of the spring is fixedly connected to the inner wall of the buffer hole, and the other end of the spring is fixedly connected to the spring clip.

2. The multi-degree-of-freedom cutterhead changing robotic arm for a tunnel boring machine according to claim 1, characterized in that, The movable arm includes a first swing arm rotatably connected to one end of the base, a second swing arm rotatably connected to the other end of the first swing arm, a third swing arm rotatably connected to the other end of the second swing arm, and a fourth swing arm rotatably connected to the other end of the third swing arm. A motor 1 for driving the first swing arm to rotate about the base axis is mounted on the base. A motor 2 for driving the third swing arm to rotate about the second swing arm axis is mounted on the second swing arm. A motor 3 for driving the second swing arm to swing left and right is mounted on the first swing arm. A motor 4 for driving the fourth swing arm to rotate left and right is mounted on the third swing arm. The other end of the fourth swing arm is fixed with a mounting shaft that is fixed to a fixed plate.

3. The multi-degree-of-freedom cutterhead changing robotic arm for a tunnel boring machine according to claim 1, characterized in that, The slide rail has a limiting groove on one long side that is arranged along its length. The driving mechanism includes a transmission screw that is rotatably connected in the limiting groove, a connecting block that is threaded onto the outer periphery of the transmission screw, and a sliding plate that is slidably connected to the outer periphery of the slide rail. Both ends of the connecting block extend to the outside of the slide rail and are fixedly connected to the sliding plate.

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