A tool grabbing device for a shield machine tool changing robot

Abstract

The application discloses a tool gripping device for a shield machine tool changing robot, comprising: a positioning transmission member; two sliding clamping jaws, symmetrically arranged and with upper ends slidingly installed on the positioning transmission member; a lifting plate, which is slidingly and movably installed on the positioning transmission member and is in transmission connection with the two sliding clamping jaws; the lifting plate is provided with a positioning assembly at the bottom; a clamping piece, which has a limiting state and an avoiding state; the clamping piece is movably installed on the positioning transmission member; and an unlocking driving mechanism, which is used for driving the clamping piece to move, so as to realize state switching of the clamping piece. The unlocking driving mechanism is matched with the clamping piece with switchable limiting state and avoiding state, the clamping jaws can rigidly limit the opposite opening movement of the hob after the clamping jaws clamp the hob, the opening trend caused by vibration and impact during the hob transfer process is effectively offset, accidental retreat and loosening of the clamping jaws are avoided, the risk of the hob falling is reduced, and the safety and stability of the automatic tool changing operation are improved.

Description

Technical Field

[0001] This invention relates to the field of tunnel boring machine technology, and in particular, to a cutter gripping device for a cutter changing robot of a tunnel boring machine. Background Technology

[0002] During shield tunnel excavation, the cutting tools are subjected to long-term friction and impact with the stratum rock and slag, which can easily lead to wear and tooth breakage of the cutterheads, requiring frequent replacement. Traditional manual cutterhead replacement operations face safety risks such as high pressure, water inrush, and collapse. The industry is gradually adopting cutterhead replacement robots equipped with end effectors to achieve automated cutterhead replacement.

[0003] Existing similar tool changing and gripping devices typically rely solely on sliding jaws to clamp the hob. During the transfer of the hob, the jaws are susceptible to vibration and impact, causing them to loosen and fall off, posing a risk of the hob falling. Summary of the Invention

[0004] The present invention aims to at least solve one of the technical problems existing in the prior art. To this end, the present invention proposes a cutter gripping device for a tunnel boring machine cutter changer robot.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A tool-grabbing device for a tunnel boring machine (TBM) tool-changing robot includes: a positioning transmission component; two symmetrically arranged sliding grippers, with the upper end slidably mounted on the positioning transmission component and the lower end protruding from it; a lifting plate, movably mounted on the positioning transmission component and connected to the two sliding grippers, wherein when the lifting plate descends relative to the positioning transmission component, it drives the two sliding grippers to slide towards each other; a positioning component is provided at the bottom of the lifting plate, which is used for inserting a shaft on the cutter head to achieve positioning with the cutter head; a locking component having a limiting state and an avoidance state; in the limiting state, the locking component restricts the corresponding sliding gripper from moving away from the other sliding gripper; in the avoidance state, the locking component avoids the movement path of the sliding gripper moving away from the other sliding gripper; the locking component is movably mounted on the positioning transmission component to achieve switching between the limiting state and the avoidance state; and an unlocking drive mechanism for driving the locking component to move to achieve state switching.

[0006] Furthermore, the locking component is rotatably mounted on the positioning transmission component, and the upper end of the sliding jaw is provided with a sliding part. The sliding part is slidably mounted on the positioning transmission component, and the upper end of the sliding part is provided with a one-way slot arranged along its own sliding direction. In the limited state, the locking component can be locked into the one-way slot to restrict the two sliding jaws from moving in opposite directions, and when the two sliding jaws move towards each other, they can drive the locking component locked into the one-way slot to rotate upward.

[0007] Furthermore, the unlocking drive mechanism is a telescopic drive mechanism installed on the positioning transmission component. The telescopic drive mechanism has a telescopic head at its bottom, which has a high position and a low position. The telescopic head is connected to a middle strip, and the middle strip is hinged to a transmission arm. The lower end of the transmission arm has an arc-shaped groove, and the side of the locking component has a guide post. The guide post is embedded in the arc-shaped groove. When the telescopic head is in the low position, the locking component can move to engage with a one-way slot, and the guide post of the locking component engaged with the one-way slot has a gap with the upper wall of the arc-shaped groove, so that when the two sliding jaws approach each other, they can drive the locking component to rotate upward to avoid the sliding path of the sliding part. When the telescopic head is in the high position, the lower wall of the arc-shaped groove pulls the guide post, so that the locking component is in an avoidance state.

[0008] Furthermore, the lower end of the lifting plate is provided with a vertical strip, and a first spur rack is provided on both sides of the vertical strip; the upper end of the sliding part is provided with a second spur rack; the first spur rack and the corresponding second spur rack are connected by a transmission gear set, the transmission gear set including a first gear and a second gear, the first gear and the second gear are installed on the positioning transmission component, the first gear meshes with the corresponding first spur rack and the second gear for transmission; the second gear meshes with the second spur rack for transmission.

[0009] Furthermore, the side wall of the positioning transmission component is provided with a stop bar, so that when the stop bar abuts against the hobbing cutter holder during the synchronous descent of the positioning transmission component driven by the lifting plate, the positioning transmission component cannot continue to descend, thus generating relative lifting and lowering movement with the continuously descending lifting plate, thereby driving the two sliding jaws to slide towards each other.

[0010] Furthermore, the unidirectional slots are symmetrically arranged on both sides of the second straight rack, and transmission arms are hinged to both sides of the middle rack. Guide posts are provided on both sides of the locking member to cooperate with the arc-shaped grooves on the transmission arms on both sides. The bottom of the locking member is provided with an avoidance notch to avoid the second straight rack.

[0011] Furthermore, the positioning transmission component has an installation cavity, the upper end of which has an insertion hole for inserting the vertical strip, the sliding part is slidably installed on the bottom wall of the installation cavity, and the locking component, unlocking drive mechanism and transmission gear set are all installed in the installation cavity; the vertical strip has a vertically extending waist-shaped hole, and a guide limiting post passing through the waist-shaped hole is installed in the installation cavity.

[0012] Furthermore, the positioning assembly includes a base cylinder, a tightening outer cylinder, and a tightening inner cylinder. The upper end of the base cylinder is connected to a lifting plate, and the lower end is coaxially and fixedly connected to the tightening outer cylinder. The tightening inner cylinder has a tightened state and a loosened state. The tightening inner cylinder is movably mounted inside the tightening outer cylinder to achieve switching between the tightened and loosened states. The upper end of the tightening inner cylinder is connected to a lifting drive mechanism, which is used to drive the tightening inner cylinder to move up and down relative to the tightening outer cylinder to achieve state switching. In the loosened state, the tightening inner cylinder allows a shaft to be inserted or removed, and in the tightened state, the tightening inner cylinder can clamp the shaft inserted therein. The lower end of the tightening outer cylinder is provided with a tapered sleeve that converges at the lower end, and the lower end of the tightening inner cylinder is provided with a tightening part that converges at the lower end. The periphery of the tightening part is provided with multiple dividing slits.

[0013] Furthermore, the lifting drive mechanism has a lifting rod at the bottom, and the lifting rod has a vertically extending strip hole; the upper end of the tightening inner cylinder has a connector, and a through-post is installed on the connector through the strip hole; a compression spring is installed inside the tightening outer cylinder, and the compression spring is sleeved on the connector, with its lower end abutting against the tightening inner cylinder.

[0014] Furthermore, the lower end of the base cylinder is provided with a first connecting flange extending horizontally outward, and the upper end of the tightening outer cylinder is provided with a second connecting flange extending horizontally outward. The first connecting flange and the second connecting flange are fitted together and have corresponding holes for connection and fixation by fasteners. The positioning components are provided in four sets and are rectangularly distributed on the outer periphery of the positioning transmission component. The outer wall of the positioning transmission component is connected to a support plate. The support plate is provided with four corresponding to the four sets of positioning components. The outer end of the support plate is provided with a semi-circular arc groove for the corresponding outer periphery wall of the base cylinder to be embedded and fitted. The lifting plate can rise relative to the positioning transmission component to the bottom surface of the support plate and fit with the first connecting flange.

[0015] The present invention has the following beneficial effects: The lifting plate is connected to two sliding grippers via a transmission system. The vertical lifting motion of the lifting plate relative to the positioning transmission components synchronously drives the two sliding grippers to clamp towards each other and open away from each other. A locking mechanism with switchable limit and avoidance states, in conjunction with the unlocking drive mechanism, rigidly restricts the opening motion of the sliding grippers after they clamp the hob, effectively counteracting the opening tendency caused by vibration and impact during hob transport. This prevents accidental release of the grippers, reduces the risk of the hob falling, and improves the safety and stability of automated tool changing operations. A positioning component is integrated at the bottom of the lifting plate, allowing for pre-center positioning via the insertion of the hob holder's shaft. This ensures a smooth connection between positioning and clamping actions, improves gripping accuracy, guarantees accurate clamping posture of the sliding grippers, and prevents off-center clamping failure.

[0016] In addition to the objectives, features, and advantages described above, the present invention has other objectives, features, and advantages. The invention will now be described in further detail with reference to the figures. Attached Figure Description

[0017] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings: Figure 1 This is a schematic diagram of the structure of a hobbing cutter according to one embodiment of the present invention; Figure 2 yes Figure 1 A schematic diagram of the decomposed state structure; Figure 3 This is a schematic diagram of the exploded structure lacking positioning and transmission components; Figure 4 This is a schematic diagram of the structure of the sliding gripper, the locking component, the unlocking drive mechanism, and the transmission gear set. Figure 5 This is a cross-sectional view of the limit position. Figure 6 yes Figure 5 Enlarged view of point A; Figure 7 This is a partial structural diagram of the avoidance maneuver. Figure 8 This is a structural diagram from another perspective of the avoidance maneuver. Figure 9 This is a cross-sectional view of the positioning component; Figure 10 This is a structural schematic diagram of the positioning transmission component; Figure 11 This is a schematic diagram of another embodiment of the present invention.

[0018] Legend: Positioning transmission component 100, hob cutter holder 101, shaft 102, hob body 103, mounting cavity 110, insertion hole 111, guide limit post 112, support plate 120, semi-circular groove 121, and stop bar 130; Sliding gripper 200, sliding part 210, one-way slot 211, second straight rack 212; Lifting plate 300, vertical bar 310, first straight rack 311, oblong hole 312; Positioning component 400, guide post 410, clearance notch 420; Unlock drive mechanism 500, telescopic head 510, intermediate bar 520, transmission arm 530, arc groove 531; Transmission gear set 600, first gear 610, second gear 620; Base cylinder 700, first connecting flange 701, tightening outer cylinder 710, tapered sleeve 711, second connecting flange 712, tightening inner cylinder 720, tightening part 721, dividing seam 722, connector 723, through column 724; Lifting drive mechanism 800, lifting rod 810, strip hole 811; Compression spring 900. Detailed Implementation

[0019] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0020] 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 a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0021] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0022] Furthermore, the use of terms such as "first" and "second" in this invention is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this invention.

[0023] Please refer to Figure 1 , Figure 2 and Figure 3 A preferred embodiment of the present invention provides a tool-grabbing device for a shield machine tool-changing robot, comprising a positioning transmission component 100, two sliding grippers 200, a lifting plate 300, a locking component 400, and an unlocking drive mechanism 500.

[0024] Two sliding jaws 200 are symmetrically arranged. The upper ends of the two sliding jaws 200 are slidably mounted on the positioning transmission component 100, and the lower ends of the two sliding jaws 200 protrude from the positioning transmission component 100 for clamping the hobbing cutter.

[0025] The lifting plate 300 is movably mounted on the positioning transmission component 100. The lifting plate 300 is connected to two sliding grippers 200. When the lifting plate 300 descends relative to the positioning transmission component 100, it drives the two sliding grippers 200 to slide towards each other to clamp the hob body 103. The bottom of the lifting plate 300 is provided with a positioning component, which is used for the shaft 102 on the hob holder 101 to be inserted to achieve positioning with the hob holder 101. The tool changing robot usually has a moving end, which can at least move vertically and horizontally. The moving end is connected to the lifting plate 300 to drive the entire tool gripping device to move. The tool changing robot controls the movement of the lifting plate 300 by controlling the movement of the moving end.

[0026] The locking component 400 has a limiting state and an avoidance state; the locking component 400 has two parts, each corresponding to one of the two sliding grippers 200. (Refer to...) Figure 5 and Figure 6 In the limit state, the locking component 400 can restrict the corresponding sliding jaw 200 from moving away from the other sliding jaw 200; refer to Figure 7 and Figure 8 In the avoidance state, the locking component 400 avoids the sliding gripper 200 and moves away from the other sliding gripper 200 along its active path; the locking component 400 is movably mounted on the positioning transmission component 100 to realize the switching between the limit state and the avoidance state.

[0027] Unlock the drive mechanism 500 to drive the movement of the locking component 400, thereby enabling the switching of the state of the locking component 400.

[0028] This invention provides a tool-grabbing device for a tunnel boring machine (TBM) tool-changing robot. A lifting plate 300 is connected to two sliding grippers 200 via a transmission mechanism. The vertical lifting motion of the lifting plate 300 relative to the positioning transmission component 100 synchronously drives the sliding grippers 200 to clamp towards each other and open away from each other. The lifting plate 300 and the positioning transmission component 100 are integrated and can be moved synchronously by the robot's mobile end. A locking component 400, which can switch between limit and avoidance states, works in conjunction with an unlocking drive mechanism 500. After the sliding grippers 200 clamp the cutter head, their opening motion away from each other is rigidly restricted. This effectively counteracts the opening tendency caused by vibration and impact during cutter head transport, preventing accidental slippage and reducing the risk of cutter head falling, thus improving the safety and stability of automated tool-changing operations. The bottom of the lifting plate 300 integrates a positioning component, which can be pre-positioned by inserting the shaft 102 of the roller cutter holder 101. This enables orderly connection between positioning and clamping actions, improves the gripping and alignment accuracy, ensures the accurate clamping posture of the sliding gripper 200, and avoids off-center clamping failure.

[0029] Reference Figures 5 to 8In some embodiments of the present invention, the locking member 400 is rotatably mounted on the positioning transmission member 100. The locking member 400 is rotatably mounted on the positioning transmission member 100 via a hinge shaft. The upper end of the sliding jaw 200 is provided with a sliding part 210, which is slidably mounted on the positioning transmission member 100. The upper end of the sliding part 210 is provided with a one-way slot 211 arranged along its own sliding direction. In the limited state, the locking member 400 can be locked into the one-way slot 211 to restrict the two sliding jaws 200 from moving in opposite directions. When the two sliding jaws 200 move towards each other, they can drive the locking member 400 locked into the one-way slot 211 to rotate upward. (Refer to...) Figure 6 As shown, when the locking member 400 is engaged in the one-way locking groove 211, it is in an inclined state, and the bottom of the locking member 400 is inclined towards the other locking member 400. The one-way locking groove 211 has two side walls, one side wall is vertical or nearly vertical and opposite to the sliding part 210 of the other sliding jaw 200, and the other side wall is inclined upward and outward and opposite to the sliding part 210 of the other sliding jaw 200. The inclined arrangement of the other side wall allows the locking member 400 engaged in the one-way locking groove 211 to be pushed upward by the sliding parts 210 that are close to each other to disengage from the one-way locking groove 211, so as not to restrict the two sliding parts 210 from getting close to each other; when the jaws have a tendency to open in opposite directions, the locking member 400 engaged in the one-way locking groove 211 forms a rigid block, realizing automatic clamping avoidance and automatic locking when in place. The unidirectional slots 211 are continuously arranged along the sliding direction, allowing the sliding gripper 200 to lock instantly in multiple positions. This adapts to gripping rollers of various diameters, improving the device's versatility. The unidirectional slots 211 and the locking component 400 engage through surface contact, resulting in a stronger load-bearing capacity compared to traditional point-contact pawl structures.

[0030] Reference Figures 6 to 8In a further embodiment of the present invention, the unlocking drive mechanism 500 is a telescopic drive mechanism installed on the positioning transmission member 100. The telescopic drive mechanism has a telescopic head 510 at its bottom, which has a high position and a low position. The telescopic head 510 is connected to a middle strip 520, and a transmission arm 530 is hinged to the middle strip 520. An arc-shaped groove 531 is provided at the lower end of the transmission arm 530. A guide post 410 is provided on the side of the locking member 400, and the guide post 410 is embedded in the arc-shaped groove 531. When the telescopic head 510 is in the low position, the locking member 400 can move to engage with the one-way slot 211. The guide post 410 of the locking member 400 engaged with the one-way slot 211 has a gap with the upper wall of the arc-shaped groove 531, so that when the two sliding jaws 200 approach each other, they can drive the locking member 400 to rotate upwards to avoid the sliding path of the sliding part 210. When the telescopic head 510 is in the high position, the lower wall of the arc-shaped groove 531 pulls the guide post 410, so that the locking member 400 is in a avoidance state. Through the linkage transmission structure composed of the telescopic head 510, the intermediate bar 520, and the transmission arm 530, the linear motion of the telescopic drive mechanism is converted into the rotational motion of the locking member 400, thus completing the switching between locking and unlocking states. The lower end of the transmission arm 530 is provided with an arc-shaped groove 531 that cooperates with the guide post 410 of the locking member 400. In the low position, the guide post 410 and the upper wall of the arc-shaped groove 531 are pre-spaced, allowing the guide post 410 to move upward with the locking member 400 without structural interference. This allows the two sliding jaws 200 (sliding part 210) to approach each other, driving the locking member 400 to rotate freely upward. This decouples the clamping action of the two sliding jaws 200 from the motion of the unlocking drive mechanism 500, eliminating the need for the unlocking drive mechanism to reciprocate with the clamping action, thus reducing drive energy consumption and component wear. The floating transmission structure of the arc-shaped groove 531 can buffer the impact force of starting and stopping the telescopic drive, preventing rigid collisions between the locking member 400 and the one-way slot 211, and extending the service life of components. In the high position, the telescopic head 510 pulls the guide post 410 through the lower wall of the arc-shaped groove 531 to forcibly lift the locking member 400, ensuring a stable and reliable unlocking action without the risk of jamming.

[0031] Reference Figure 4 , Figure 5In a further embodiment of the present invention, a vertical bar 310 is provided at the lower end of the lifting plate 300, and a first straight rack 311 is provided on both sides of the vertical bar 310; a second straight rack 212 is provided at the upper end of the sliding part 210; the first straight rack 311 and the corresponding second straight rack 212 are connected by a transmission gear set 600, which includes a first gear 610 and a second gear 620. The first gear 610 and the second gear 620 are mounted on the positioning transmission member 100. The first gear 610 meshes with the corresponding first straight rack 311 and the second gear 620 for transmission; the second gear 620 meshes with the second straight rack 212 for transmission. Through the meshing transmission of the first straight rack 311, the transmission gear set 600 and the second straight rack 212, the vertical linear motion of the vertical bar 310 is converted into the horizontal linear motion of the sliding part 210, realizing the reversal transmission from lifting motion to clamping motion. The symmetrical rack and pinion transmission ensures that the movement speed and stroke of the left and right sliding jaws are completely synchronized, resulting in good clamping centering, avoiding unilateral force deviation of the hob, and improving clamping stability.

[0032] Reference Figure 7 In a further embodiment of the present invention, unidirectional slots 211 are symmetrically arranged on both sides of the second rack 212, and transmission arms 530 are hinged to both sides of the middle bar 520. Guide posts 410 are provided on both sides of the locking member 400 to engage with the arc-shaped slots 531 on the transmission arms 530 on both sides. The bottom of the locking member 400 is provided with a clearance notch 420 to avoid the second rack 212. The unidirectional slots 211 are symmetrically arranged on both sides of the second rack 212, and work synchronously with the locking member 400 on both sides to ensure symmetrical and balanced locking forces, improving locking stability and structural reliability. The transmission arms 530 hinged to both sides of the middle bar 520 synchronously drive the guide posts 410 on both sides of the locking member 400, ensuring symmetrical forces during the rotation of the locking member 400, smooth and unbiased movement, and good consistency between unlocking and locking responses. The bottom of the locking component 400 is provided with an avoidance notch 420, which can avoid the movement path of the second straight rack 212, eliminate the movement interference between the locking structure and the transmission rack, allow the two to be arranged in close proximity, further optimize the internal space of the positioning transmission component 100, and reduce the overall volume of the device.

[0033] Reference Figure 5In a further embodiment of the present invention, the positioning transmission component 100 is provided with a mounting cavity 110. The upper end of the mounting cavity 110 is provided with an insertion hole 111 for inserting the vertical bar 310, and the lower end of the mounting cavity 110 is provided with an extension hole for extending the sliding gripper 200. A guide rail is installed on the bottom wall of the mounting cavity 110, and the bottom of the sliding part 210 is provided with a sliding groove adapted to the guide rail, thereby realizing sliding guidance. The sliding part 210 is slidably installed on the bottom wall of the mounting cavity 110. The locking component 400, the unlocking drive mechanism 500, and the transmission gear set 600 are all installed in the mounting cavity 110. The vertical bar 310 is provided with a vertically extending waist-shaped hole 312, and a guide limiting post 112 passing through the waist-shaped hole 312 is installed in the mounting cavity 110. The mounting cavity 110 is provided in the positioning transmission component 100 to protect all core transmission and locking components such as the locking component 400, the unlocking drive mechanism 500, and the transmission gear set 600, thereby extending the service life of the device and reducing the amount of on-site maintenance work. The insertion hole 111 at the upper end of the mounting cavity 110 provides initial guidance for the vertical bar 310. Combined with the engagement of the guide limit post 112 and the oblong hole 312, it can constrain the forward / backward and left / right offset of the vertical bar 310, ensuring that the first spur rack 311 and the transmission gear set 600 maintain the correct meshing position. The oblong hole 312 also serves as a stroke limiter, restricting the maximum lifting stroke of the lifting plate 300, forming a mechanical hard limit. Both the first gear 610 and the second gear 620 are rotatably mounted on the positioning transmission component 100 via a rotating shaft, and both ends of the rotating shaft are mounted on two opposite side walls of the mounting cavity 110 via bearings.

[0034] Reference Figure 5 In a further embodiment of the present invention, in order to limit the range of motion of the locking member 400, a limiting rod 140 is installed on the inner wall of the mounting cavity 110 so that the locking member 400 in the limiting state can lean against it, and can also share part of the load transmitted by the locking member 400 in the limiting state.

[0035] Reference Figure 5In a further embodiment of the present invention, the positioning transmission component 100 is provided with a stop bar 130 on its side wall. Thus, during the synchronous descent of the positioning transmission component 100 driven by the lifting plate 300, when the stop bar 130 abuts against the hob cutter holder 101, the positioning transmission component 100 cannot continue to descend, thereby generating relative lifting and lowering movement with the continuing-descending lifting plate 300, which in turn drives the two sliding grippers 200 to slide towards each other. By providing the stop bar 130 on the side wall of the positioning transmission component 100, the grippers can be automatically triggered to clamp using the overall downward feed motion of the tool-changing robot's moving end. When the device descends, the stop bar 130 first abuts against the hob cutter holder 101, stopping the positioning transmission component 100 from descending. Meanwhile, the lifting plate 300 continues to descend with the robot's moving end, automatically generating relative lifting and lowering movement and driving the sliding grippers 200 to clamp towards each other. This eliminates the need for an independent drive power source for the lifting plate 300, simplifying the device's drive system and further reducing equipment costs and control complexity. By utilizing the inherent downward movement of the lifting plate 300 during tool changing, the downward movement is partially converted into the sliding of two opposing sliding jaws 200 after the positioning transmission component 100 has reached its position. This reduces the number of drive mechanisms, and the purely mechanically triggered clamping logic ensures stable execution of the action sequence thanks to the structure itself. No electrical control is required to coordinate the feed and clamping actions, simplifying the control program. Of course, in other embodiments, such as... Figure 11 As shown, the stop bar 130 can be omitted, and an additional drive mechanism can be set to drive the positioning transmission component 100 to move relative to the lifting plate 300 in a relative lifting motion.

[0036] Reference Figure 9In some embodiments of the present invention, the positioning assembly includes a base cylinder 700, a tightening outer cylinder 710, and a tightening inner cylinder 720. The upper end of the base cylinder 700 is connected to the lifting plate 300, and the lower end is coaxially and fixedly connected to the tightening outer cylinder 710. The tightening inner cylinder 720 has a tightened state and a loosened state, and the tightening inner cylinder 720 is movably mounted within the tightening outer cylinder 710 to achieve switching between the tightened and loosened states. A lifting drive mechanism 800 is connected to the upper end of the tightening inner cylinder 720. The lifting drive mechanism 800 is used to drive the tightening inner cylinder 720 to move up and down relative to the tightening outer cylinder 710 to achieve state switching. In the loosened state, the tightening inner cylinder 720 allows the shaft 102 to be inserted or withdrawn, and in the tightened state, the tightening inner cylinder 720 can clamp the shaft 102 inserted therein. The lower end of the tightening outer cylinder 710 is provided with a tapered sleeve 711 that converges at the lower end, and the lower end of the tightening inner cylinder 720 is provided with a tightening part 721 that converges at the lower end. The periphery of the tightening part 721 is provided with multiple dividing slits 722. The positioning assembly adopts a coaxial nested structure of the base cylinder 700, the tightening outer cylinder 710, and the tightening inner cylinder 720. The lifting drive mechanism 800 actively controls the lifting and lowering of the tightening inner cylinder 720 to switch the clamping state. The tapered sleeve 711 at the lower end of the tightening outer cylinder 710 cooperates with the tightening part 721 with the dividing slit 722. The radial uniform contraction clamping is achieved through the tapered wedge clamping force, resulting in a large clamping contact area and uniform force on the shaft 102. Even if the lifting drive mechanism 800 is depressurized, the tapered sleeve 711 will continue to apply an inward contraction force to the tightening part 721 because the tightening inner cylinder 720 will be subjected to the gravity of the hob cutter holder 101 after clamping. It has a mechanical self-locking characteristic, and the tightening inner cylinder 720 will not spring back and loosen on its own, effectively preventing the shaft from falling off and improving the safety redundancy of operation. Furthermore, during the hoisting process, due to the clamping of the shaft 102, part of the gravity load of the hob assembly (including the hob holder 101 and the hob body 103 mounted on the hob holder 101) is distributed on the positioning component, avoiding the entire gravity load on the sliding gripper 200, which would cause excessive stress concentration in the sliding gripper 200 and its related components, thus improving the service life of the components. The positioning component and the sliding gripper 200 form a dual constraint of central shaft clamping and outer peripheral cutter body clamping, further improving the stability of hob gripping.

[0037] Reference Figure 9In a further embodiment of the present invention, the lifting drive mechanism 800 has a lifting rod 810 at its bottom, and the lifting rod 810 has a vertically extending strip hole 811; the upper end of the tightening inner cylinder 720 is provided with a connector 723, and a through post 724 passing through the strip hole 811 is installed on the connector 723; a compression spring 900 is installed inside the tightening outer cylinder 710, and the compression spring 900 is sleeved on the connector 723, with its lower end abutting against the tightening inner cylinder 720. The strip hole 811 of the lifting rod 810 and the through post 724 of the connector 723 form a floating connection structure, so that the tightening inner cylinder 720 has an independent buffer floating stroke. When the shaft 102 is inserted, it can push the tightening inner cylinder 720 to move upward and back slightly, avoiding hard collision damage to the shaft or the tapered sleeve structure, while reducing the positioning accuracy requirements of the device and improving the gripping fault tolerance. A compression spring 900 is installed inside the outer cylinder 710 to provide a continuous downward preload to the inner cylinder 720, thereby enhancing the clamping force and improving clamping reliability. The floating connection structure buffers the clamping impact of the lifting drive mechanism 800, preventing over-clamping damage to the shaft or inner cylinder structure and providing overload protection. Alternatively, in some embodiments, the slotted hole 811 may be omitted, allowing the lifting drive mechanism 800 to rigidly drive the inner cylinder 720 to rise and fall. Both the lifting drive mechanism 800 and the unlocking drive mechanism 500 can be telescopic motors or hydraulic cylinders.

[0038] Reference Figure 1 , Figure 9 and Figure 10In a further embodiment of the present invention, the lower end of the base cylinder 700 is provided with a first connecting flange 701 extending horizontally outward, and the upper end of the tightening outer cylinder 710 is provided with a second connecting flange 712 extending horizontally outward. The first connecting flange 701 and the second connecting flange 712 are fitted together and have corresponding holes for connection and fixation by fasteners. The positioning components are provided in four sets and are rectangularly distributed on the outer periphery of the positioning transmission component 100. The outer wall of the positioning transmission component 100 is connected to a support plate 120. The support plate 120 is provided with four corresponding to the four sets of positioning components. The outer end of the support plate 120 is provided with a semi-circular groove 121 for the corresponding outer periphery wall of the base cylinder 700 to be embedded and fitted. The lifting plate 300 can rise relative to the positioning transmission component 100 to the bottom surface of the support plate 120 and fit with the first connecting flange 701. Four sets of positioning components are rectangularly distributed around the outer periphery of the positioning transmission component 100. They can simultaneously position and clamp the four shafts 102 of the cutter holder 101. Multi-point constraints eliminate the tilting and deflection degrees of freedom of the cutter, resulting in a more stable gripping posture, no shaking during long-distance hoisting, and facilitating subsequent precise alignment and installation. A support plate 120 is provided on the outer wall of the positioning transmission component 100. It fits against the outer peripheral wall of the base cylinder 700 through a semi-circular groove 121. This provides radial positioning for the positioning components and, during hoisting, can bear most of the axial tensile force by fitting against the first connecting flange 701, reducing the stress on the connection between the lifting plate 300 and the base cylinder 700, and improving the overall load-bearing capacity and structural strength of the device. The base cylinder 700 and the tightening outer cylinder 710 are connected by a split flange with the first connecting flange 701 and the second connecting flange 712, enabling a modular design for the positioning components, resulting in low maintenance costs and high efficiency. The open structure of the semi-circular groove 121 also facilitates the rapid assembly and positioning of the positioning components. When the lifting plate 300 rises to the point where the bottom surface of the support plate 120 is in contact with the first connecting flange 701, a mechanical hard limit is formed, which can limit the maximum upward stroke of the lifting plate 300 and prevent overtravel from damaging the transmission components; at the same time, it ensures the stability of the lifting posture during the lifting process.

[0039] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A tool-grabbing device for a shield tunneling machine tool-changing robot, characterized in that, include: Positioning transmission component (100); Two sliding grippers (200) are symmetrically arranged, with their upper ends slidably mounted on the positioning transmission component (100) and their lower ends protruding from the positioning transmission component (100). The lifting plate (300) is movably mounted on the positioning transmission component (100) and is connected to the two sliding jaws (200) in a transmission manner. When the lifting plate (300) descends relative to the positioning transmission component (100), it can drive the two sliding jaws (200) to slide towards each other. The bottom of the lifting plate (300) is provided with a positioning component, which is used for the shaft (102) on the hob cutter holder (101) to be inserted to achieve positioning with the hob cutter holder (101). The locking component (400) has a limiting state and an avoidance state; in the limiting state, the locking component (400) can restrict the corresponding sliding gripper (200) from moving away from the other sliding gripper (200); in the avoidance state, the locking component (400) avoids the movement path of the sliding gripper (200) moving away from the other sliding gripper (200); the locking component (400) is movably mounted on the positioning transmission component (100) to realize the switching between the limiting state and the avoidance state; Unlock drive mechanism (500) is used to drive the movement of the locking component (400) to achieve state switching of the locking component (400).

2. The tool-grabbing device for the shield machine tool-changing robot according to claim 1, characterized in that, The locking member (400) is rotatably mounted on the positioning transmission member (100). The upper end of the sliding jaw (200) is provided with a sliding part (210). The sliding part (210) is slidably mounted on the positioning transmission member (100). The upper end of the sliding part (210) is provided with a one-way slot (211) arranged along its own sliding direction. In the limited state, the locking member (400) can be locked into the one-way slot (211) to restrict the two sliding jaws (200) from moving in opposite directions. When the two sliding jaws (200) move towards each other, they can drive the locking member (400) locked into the one-way slot (211) to rotate upward.

3. The tool-grabbing device for the shield machine tool-changing robot according to claim 2, characterized in that, The unlocking drive mechanism (500) is a telescopic drive mechanism installed on the positioning transmission component (100). The telescopic drive mechanism has a telescopic head (510) at the bottom. The telescopic head (510) has a high position and a low position. The telescopic head (510) is connected to a middle strip (520). The middle strip (520) is hinged to a transmission arm (530). The lower end of the transmission arm (530) is provided with an arc groove (531). The side of the locking component (400) is provided with a guide post (410). The guide post (410) is embedded in the arc groove (531). The telescopic head (510) is a telescopic drive mechanism installed on the positioning transmission component (100). 10) When in the low position, the locking member (400) can move to engage with the one-way slot (211), and the guide post (410) of the locking member (400) engaged with the one-way slot (211) has a gap with the upper wall of the arc groove (531), so that when the two sliding jaws (200) approach each other, they can drive the locking member (400) to rotate upward to avoid the sliding path of the sliding part (210); when the telescopic head (510) is in the high position, the lower wall of the arc groove (531) pulls the guide post (410) so that the locking member (400) is in the avoidance state.

4. The tool-grabbing device for the shield machine tool-changing robot according to claim 3, characterized in that, The lower end of the lifting plate (300) is provided with a vertical bar (310), and a first spur rack (311) is provided on both sides of the vertical bar (310); the upper end of the sliding part (210) is provided with a second spur rack (212); the first spur rack (311) and the corresponding second spur rack (212) are connected by a transmission gear set (600), the transmission gear set (600) includes a first gear (610) and a second gear (620), the first gear (610) and the second gear (620) are installed on the positioning transmission member (100), the first gear (610) meshes with the corresponding first spur rack (311) and the second gear (620) for transmission; the second gear (620) meshes with the second spur rack (212) for transmission.

5. The tool-grabbing device for the shield machine tool-changing robot according to claim 4, characterized in that, The unidirectional slot (211) is symmetrically arranged on both sides of the second straight rack (212). The middle bar (520) is hinged with transmission arms (530) on both sides. The locking member (400) is provided with guide posts (410) on both sides to cooperate with the arc grooves (531) on the transmission arms (530) on both sides. The bottom of the locking member (400) is provided with a clearance notch (420) to avoid the second straight rack (212).

6. The tool-grabbing device for the shield machine tool-changing robot according to claim 4, characterized in that, The positioning transmission component (100) is provided with an installation cavity (110). The upper end of the installation cavity (110) is provided with an insertion hole (111) for inserting the vertical strip (310). The sliding part (210) is slidably installed on the bottom wall of the installation cavity (110). The locking component (400), the unlocking drive mechanism (500), and the transmission gear set (600) are all installed in the installation cavity (110). The vertical strip (310) is provided with a vertically extending waist-shaped hole (312). A guide limiting post (112) passing through the waist-shaped hole (312) is installed in the installation cavity (110).

7. The tool-grabbing device for the shield machine tool-changing robot according to claim 1, characterized in that, The positioning transmission component (100) has a stop bar (130) on its side wall. So when the lifting plate (300) drives the positioning transmission component (100) to descend synchronously, when the stop bar (130) abuts against the hobbing cutter holder (101), the positioning transmission component (100) cannot continue to descend and thus generates relative lifting and lowering activities with the continuing to descending lifting plate (300), thereby driving the two sliding jaws (200) to slide towards each other.

8. The tool-grabbing device for the shield machine tool-changing robot according to claim 1, characterized in that, The positioning assembly includes a base cylinder (700), a tightening outer cylinder (710), and a tightening inner cylinder (720). The upper end of the base cylinder (700) is connected to a lifting plate (300), and the lower end is coaxially and fixedly connected to the tightening outer cylinder (710). The tightening inner cylinder (720) has a tightened state and a loosened state. The tightening inner cylinder (720) is movably installed inside the tightening outer cylinder (710) to achieve switching between the tightened and loosened states. A lifting drive mechanism (800) is connected to the upper end of the tightening inner cylinder (720). 0) Used to drive the tightening inner cylinder (720) to move up and down relative to the tightening outer cylinder (710) to achieve state switching; the tightening inner cylinder (720) in the loose state allows the shaft (102) to be inserted or pulled out, and the tightening inner cylinder (720) in the tightened state can clamp the shaft (102) inserted therein; the lower end of the tightening outer cylinder (710) is provided with a tapered sleeve (711) that closes at the lower end, and the lower end of the tightening inner cylinder (720) is provided with a tightening part (721) that closes at the lower end, and the periphery of the tightening part (721) is provided with multiple dividing slits (722).

9. The tool-grabbing device for the shield machine tool-changing robot according to claim 8, characterized in that, The lifting drive mechanism (800) has a lifting rod (810) at the bottom, and the lifting rod (810) has a vertically extending strip hole (811); the upper end of the tightening inner cylinder (720) is provided with a connector (723), and a through post (724) passing through the strip hole (811) is installed on the connector (723); a compression spring (900) is installed inside the tightening outer cylinder (710), and the compression spring (900) is sleeved on the connector (723), and its lower end abuts against the tightening inner cylinder (720).

10. The tool-grabbing device for the shield machine tool-changing robot according to claim 8, characterized in that, The lower end of the base cylinder (700) is provided with a first connecting flange (701) extending horizontally outward, and the upper end of the tightening outer cylinder (710) is provided with a second connecting flange (712) extending horizontally outward. The first connecting flange (701) and the second connecting flange (712) are fitted together and have corresponding holes for connection and fixation by fasteners. The positioning components are provided in four sets and are rectangularly distributed on the outer periphery of the positioning transmission component (100). The outer wall of the positioning transmission component (100) is connected to a support plate (120). The support plate (120) is provided with four corresponding to the four sets of positioning components. The outer end of the support plate (120) is provided with a semi-circular groove (121) for the corresponding outer periphery of the base cylinder (700) to be embedded and fitted. The lifting plate (300) can rise relative to the positioning transmission component (100) to the bottom surface of the support plate (120) and fit with the first connecting flange (701).

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