Heavy-load telescopic arm for tool changing robot of shield tunneling machine
By designing a high-precision multi-stage telescopic arms of large loads, the telescopic and rotational operation problems of the shield machine tool changer robot in heavy load environments is solved, flexible adjustment and high load-bearing capacity are achieved, and operating efficiency and safety are improved.
Patent Information
- Application Number
- CN202521235206.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-06-17
- Publication Date
- 2025-07-29
- Estimated Expiration
- 2035-06-17
AI Technical Summary
The existing shield machine tool changer robot takes a long time to replace the hob, has high manual operation strength, poses safety risks, and it is difficult for existing equipment to achieve stable telescopic and rotation operations in heavy-duty environments.
A high-precision multi-stage telescopic arm with a large load is designed, including a right-angle arm, an N-stage telescopic assembly and a drive assembly. The flexible adjustment of the telescopic arm is achieved through the combination of pulleys and wire ropes, with rotational freedom and high load-bearing capacity.
It improves the operation flexibility and safety of the tool changer robot, expands the operating range, reduces the equipment size and weight, and improves the working efficiency and safety of the shield machine or TBM.
Smart Images
Figure CN223160962U_ABST
Abstract
Description
Technical Field
[0001] The technical field of the tunnel engineering equipment of the utility model, specifically, relates to a large-load telescopic arm for a cutter-changing robot of a shield machine. Background Art
[0002] A full-face rock tunneling machine (TBM) is a large and complex tunneling equipment integrating machinery, electricity, hydraulics, optics, control, etc., and is widely used in tunnel construction such as water conservancy projects, railway transportation, subway projects, oil and gas pipelines, and national defense. During the excavation process of the tunneling machine, the consumption of hob is huge, so the hob needs to be replaced frequently. However, generally, it takes up to 1 hour to replace a single hob manually, and the total tool-changing time accounts for about one-third of the entire construction period. Moreover, the operators often need to bear a high workload, and long-term operation will cause irreversible damage to the human body, and even major accidents such as casualties may occur. The cutter-changing robot of the shield machine is a high-end intelligent equipment for automatically replacing the cutters of the shield machine. When it works, it needs to move and stretch, and it needs a telescopic arm that can work stably in a heavy-load environment.
[0003] In view of the functional characteristics of the cutter-changing robot of the shield machine or TBM, a large-load and high-precision telescopic arm is needed to expand the working range of the shield machine / TBM cutter-changing robot. Summary of the Utility Model
[0004] In view of the problems in the related art, the utility model provides a large-load telescopic arm for a cutter-changing robot of a shield machine to overcome the above technical problems existing in the related art.
[0005] For this purpose, the specific technical solution adopted by the utility model is as follows: A large-load telescopic arm for a cutter-changing robot of a shield machine is installed at the execution end of the cutter-changing robot; it includes:
[0006] A right-angle arm is hinged to the execution end of the cutter-changing robot; the right-angle arm has a rotational degree of freedom;
[0007] An N-stage telescopic assembly, one end of which is connected to the right-angle arm and the other end is installed with a swing oil cylinder; N is a natural number;
[0008] A connecting plate is connected to the output end of the swing oil cylinder; wherein, the N-stage telescopic assembly includes: N groups of telescopic arms, and a driving assembly drivingly connected to the N groups of telescopic arms; the driving assembly controls the N groups of telescopic arms to synchronously extend and retract.
[0009] In a further embodiment, the value of N is 4, which is a four-stage telescopic assembly; the four-stage telescopic assembly at least includes: a first-stage telescopic arm connected to the right-angle arm, and defining the width direction of the right-angle arm as the X-axis direction, the thickness direction as the Y-axis direction, and the length direction as the Z-axis direction;
[0010] It further includes: a secondary telescopic arm slidably connected to the primary telescopic arm along the Z-axis, a tertiary telescopic arm drivingly connected to the secondary telescopic arm along the Z-axis, and a quaternary telescopic arm slidably connected to the tertiary telescopic arm along the Z-axis; the quaternary telescopic arm is configured to mount a swing oil cylinder.
[0011] The mutually independent primary wire rope and secondary wire rope are both drivingly connected to the primary telescopic arm, the secondary telescopic arm, and the tertiary telescopic arm in sequence.
[0012] The mutually independent tertiary wire rope and quaternary wire rope are both drivingly connected to the secondary telescopic arm, the tertiary telescopic arm, and the quaternary telescopic arm in sequence.
[0013] In a further embodiment, a boss is provided at the top of the primary telescopic arm, two groups of wire rope pads are symmetrically arranged along the X-axis on the boss, and external fixing ears are arranged on each group of wire rope pads along the Z-axis, and ear holes are provided on the external fixing ears.
[0014] External fixing ear holes 1 are symmetrically opened along the Y-axis on the boss.
[0015] In a further embodiment, guide pulleys 1 are symmetrically mounted along the X-axis at the bottom of the secondary telescopic arm.
[0016] Guide pulleys 2 and external fixing ear holes 2 are symmetrically arranged along the Y-axis on the top boss, and internal fixing ear holes 1 are symmetrically opened along the X-axis.
[0017] In a further embodiment, guide pulleys 3 are symmetrically mounted along the Y-axis on the top boss of the tertiary telescopic arm.
[0018] Guide pulleys 4 and internal fixing ear holes 2 are symmetrically mounted along the X-axis at the bottom of the tertiary telescopic arm, and external fixing ear holes 3 are symmetrically arranged along the Y-axis.
[0019] In a further embodiment, two groups of guide pads and two groups of internal fixing plates 1 are symmetrically mounted along the Y-axis at the bottom of the quaternary telescopic arm, and two groups of internal fixing plates 2 are symmetrically mounted along the X-axis.
[0020] In a further embodiment, the outer surface and the inner surface of adjacent telescopic arms are slidingly guided through a slide rail and a slide groove.
[0021] In a further embodiment, the primary telescopic arm, the secondary telescopic arm, the tertiary telescopic arm, and the quaternary telescopic arm are all welded by steel plates and have a hollow structure inside.
[0022] In a further embodiment, an oil cylinder fixing seat is provided at the bottom of the primary telescopic arm, and a driving oil cylinder is mounted on the oil cylinder fixing seat.
[0023] Advantages of the present utility model: By analyzing the structural characteristics and spatial constraints of the shield machine or TBM tool-changing robot, the telescopic arm of the present utility model is designed, which has multiple advantages. First of all, it has high flexibility and precision, and can adjust its length according to needs to adapt to different working heights and radii. Secondly, the telescopic arm has strong load-bearing capacity and can lift heavy objects in a limited space. In addition, the telescopic arm can reach a longer working distance and perform rotation operations under the allowable load. This design also allows the telescopic arm to extend and retract under load, improving the operation efficiency and safety. Finally, the versatility of the telescopic arm enables it to cooperate with different accessories and tools to complete various tasks.
[0024] This makes the tool-changing robot have high reliability and operability in practical applications, and can effectively improve the working efficiency and safety of the shield machine or TBM. Brief Description of the Drawings
[0025] Figure 1 is an axonometric view of the large-load and high-precision multi-stage telescopic arm for the shield machine or TBM tool-changing robot.
[0026] Figure 2 is the front view of the large-load and high-precision multi-stage telescopic arm for the shield machine or TBM tool-changing robot.
[0027] Figure 3 is the left view of the large-load and high-precision multi-stage telescopic arm for the shield machine or TBM tool-changing robot.
[0028] Figure 4 is the sectional view of the pulley block of the large-load and high-precision multi-stage telescopic arm for the shield machine or TBM tool-changing robot Figure 1 .
[0029] Figure 5 is the sectional view of the pulley block of the large-load and high-precision multi-stage telescopic arm for the shield machine or TBM tool-changing robot Figure 2 .
[0030] Figure 6 is the sectional view of the pulley block of the large-load and high-precision multi-stage telescopic arm for the shield machine or TBM tool-changing robot Figure 3 .
[0031] Figure 7 is the sectional view of the pulley block of the large-load and high-precision multi-stage telescopic arm for the shield machine or TBM tool-changing robot Figure 4 .
[0032] Figures 1 to 7The markings in the figure are: right-angle arm 1, first-stage telescopic arm 2, wire rope pad 2-1, ear hole 2-2, external fixed ear hole 1 2-3, second-stage telescopic arm 3, guide pulley 1 3-1, guide pulley 2 3-2, external fixed ear hole 2 3-3, cylinder fixing seat 3-4, internal fixed ear hole 1 3-5, third-stage telescopic arm 4, guide pulley 3 4-1, guide pulley 4 4-2, external fixed ear hole 3 4-3, internal fixed ear hole 2 4-4, fourth-stage telescopic arm 5, internal fixed plate 1 5-1, guide pad 5-2, internal fixed plate 2 5-3, swing cylinder 6, connecting plate 7. DETAILED DESCRIPTION
[0033] To further illustrate each embodiment, the present invention provides drawings, which are part of the disclosure of the present invention. They are mainly used to illustrate the embodiments and can be used in conjunction with the relevant descriptions in the specification to explain the operating principles of the embodiments. By referring to these contents, ordinary technicians in this field should be able to understand other possible implementation methods and the advantages of the present invention. Example
[0034] Reference Figures 1 - 7 , which is the first embodiment of the utility model. This embodiment provides a large-load, high-precision, multi-stage telescopic arm for a shield machine / TBM tool-changing robot. By analyzing the telescopic function requirements of the shield machine or TBM tool-changing robot, it utilizes the right-angle arm 1, the telescopic arm tube, and the oil cylinder to rotate in combination. At the same time, the angle and height of the telescopic arm can be adjusted through the guide pulley and wire rope assembly, thereby realizing the telescopic function of the robot in a limited space and expanding the robot's operating range. This greatly reduces the volume and weight of the shield machine or TBM tool-changing robot, and more comprehensively improves the robot's spatial working ability. Specifically, a large-load telescopic arm for a shield machine tool-changing robot is installed at the execution end of the tool-changing robot; it includes: a right-angle arm 1 hinged at the execution end of the tool-changing robot, and the right-angle arm 1 of this embodiment has rotational freedom. It also includes: an N-stage telescopic assembly, one end of which is connected to the right-angle arm 1 and the other end is equipped with a swing cylinder 6; N is a natural number;
[0035] The connecting plate 7 is connected to the output end of the swing cylinder 6; wherein, the N-stage telescopic assembly includes: N groups of telescopic arms, and a driving assembly connected to the N groups of telescopic arms; the driving assembly controls the synchronous extension and retraction of the N groups of telescopic arms.
[0036] In this embodiment, the value of N is 4, which means a four-stage telescopic assembly; the four-stage telescopic assembly includes at least: a first-stage telescopic arm 2 connected to a right-angle arm 1, wherein the width direction of the right-angle arm 1 is defined as the X-axis, the thickness direction is defined as the Y-axis, and the length direction is defined as the Z-axis;
[0037] It further includes: a secondary telescopic arm 3 slidably connected to the primary telescopic arm 2 along the Z-axis, a tertiary telescopic arm 4 drivingly connected to the secondary telescopic arm 3 along the Z-axis, and a quaternary telescopic arm 5 slidably connected to the tertiary telescopic arm 4 along the Z-axis; the quaternary telescopic arm 5 is arranged to mount a swing oil cylinder 6;
[0038] The mutually independent primary wire rope and secondary wire rope are both sequentially drivingly connected to the primary telescopic arm 2, the secondary telescopic arm 3, and the tertiary telescopic arm 4;
[0039] The mutually independent tertiary wire rope and quaternary wire rope are both sequentially drivingly connected to the secondary telescopic arm 3, the tertiary telescopic arm 4, and the quaternary telescopic arm 5.
[0040] Further, the primary telescopic arm 2 is welded by steel plates, has a hollow structure inside, and has a boss at its top. Two groups of wire rope pads 2-1 are symmetrically arranged along the X-axis on the boss, and external fixing ears are arranged on each group of wire rope pads 2-1 in the Z-axis direction, and ear holes 2-2 are opened on the external fixing ears; external fixing ear holes one 2-3 are symmetrically opened along the Y-axis on the boss.
[0041] The secondary telescopic arm 3 is welded by steel plates and has a hollow structure inside. Guide pulleys one 3-1 are symmetrically installed at the bottom of the secondary telescopic arm 3 along the X-axis; guide pulleys two 3-2, external fixing ear holes two 3-3 are symmetrically arranged along the Y-axis on the top boss, and internal fixing ear holes one 3-5 are symmetrically opened along the X-axis.
[0042] The tertiary telescopic arm 4 is welded by steel plates and has a hollow structure inside. Guide pulleys three 4-1 are symmetrically installed on the top boss of the tertiary telescopic arm 4 along the Y-axis; guide pulleys four 4-2 and internal fixing ear holes two 4-4 are symmetrically installed at the bottom of the tertiary telescopic arm 4 along the X-axis, and external fixing ear holes three 4-3 are symmetrically arranged along the Y-axis.
[0043] The quaternary telescopic arm 5 is welded by steel plates and has a hollow structure inside. Two groups of guide pads 5-2 and two groups of internal fixing plates one 5-1 are symmetrically installed at the bottom of the quaternary telescopic arm 5 along the Y-axis, and two groups of internal fixing plates two 5-3 are symmetrically installed along the X-axis.
[0044] The working principle is as follows: Combining Figure 7 , the axis of the guide pulley one 3-1 provided on the secondary telescopic arm 3, the wire rope pad 2-1 provided on the primary telescopic arm 2, and the ear hole 2-2 are located in the same plane. Therefore, the fixed end of the primary wire rope is fixed to the ear hole 2-2, and the movable end sequentially passes through the wire rope pad 2-1 and then winds into the inner side of the secondary telescopic arm 3 from the bottom, and changes direction through the guide pulley one 3-1 and is finally fixed to the internal fixing ear hole two 4-4 of the tertiary telescopic arm 4.
[0045] Combining Figure 6As shown in the figure, the guide pulley two 3-2 of the secondary telescopic arm 3, the outer fixed ear hole one 2-3 of the telescopic arm, and the outer fixed ear hole three 4-3 of the tertiary telescopic arm 4 are located in the same section, and a secondary steel wire rope is provided. Therefore, one end of the secondary steel wire rope is fixed on the outer fixed ear hole one 2-3, is wound into the inner side of the secondary telescopic arm through the guide pulley two 3-2, and is finally fixed on the outer fixed ear hole three 4-3.
[0046] As Figure 4 shown in the figure, the center of the outer fixed ear hole two 3-3 provided on the secondary telescopic arm, the guide pulley three 4-1 on the tertiary telescopic arm, the inner fixing plate one 5-1 placed on the quaternary telescopic arm, and the guide spacer 5-2 are in the same plane, and a tertiary steel wire rope is provided. One end of the tertiary steel wire rope is fixed on the outer fixed ear hole three 4-3 on the secondary telescopic arm, then enters the interior of the tertiary telescopic arm through the guide pulley three 4-1, and finally is fixed on the inner fixing plate one 5-1 through the guide spacer 5-2.
[0047] Combined Figure 5 with the figure, the axis of the inner fixed ear hole one 3-5 provided on the secondary telescopic arm, the guide pulley four 4-2 provided at the bottom of the tertiary telescopic arm, and the inner fixing plate two 5-3 provided at the bottom of the quaternary telescopic arm are in the same plane, and a quaternary steel wire rope is provided. One end of the quaternary steel wire rope is fixed on the inner fixed ear hole one 3-5 on the secondary telescopic arm, then is wound into the inner side of the tertiary telescopic arm through the guide pulley four 4-2, and the end is connected to the inner fixing plate two 5-3.
[0048] To ensure the stability of the telescoping, the outer surface and the inner surface of the adjacent telescopic arms are slidably guided through the slide rail and the chute.
[0049] Furthermore, an oil cylinder fixing seat 3-4 is installed at the bottom of the primary telescopic arm 2, and a driving oil cylinder is installed on the oil cylinder fixing seat 3-4.
[0050] When the telescopic arm is working, power is provided for the right-angle arm 1 by the shield tunneling machine tool-changing robot or the TBM tool-changing robot, and a rotational operation with one degree of freedom can be achieved. The extension and contraction of the telescopic arm are driven by the driving oil cylinder. When the telescopic arm extends, the oil cylinder rod extends, thereby driving the secondary telescopic arm to extend through the oil cylinder fixing seat 3-4. While the secondary telescopic arm extends, it drives the guide pulley one 3-1, transmits the power to the inner fixed ear hole two 4-4 to make the tertiary telescopic arm extend. While the tertiary telescopic arm extends, it drives and then passes through the guide pulley three 4-1 and then drives the quaternary telescopic arm to extend forward through the fixing hole; that is, when extending, the primary steel wire rope and the tertiary steel wire rope work.
[0051] When contracting, the cylinder rod retracts, and the cylinder fixed seat 3-4 drives the secondary telescopic arm to retract. The secondary telescopic arm drives the second guiding pulley 3-2 to work, enabling the power to be transmitted to the second internal fixed ear hole 4-4 through the steel cable, driving the tertiary telescopic arm to contract. The contraction of the tertiary telescopic arm drives the internal fixed hole and then drives the quaternary telescopic arm to contract; that is, the secondary steel wire rope and the quaternary steel wire rope work during contraction.
Claims
1. A large-load telescopic arm for a shield tunneling machine cutter-changing robot, which is installed at the execution end of the cutter-changing robot; characterized in that, Including: A right-angle arm, hinged to the execution end of the tool-changing robot; the right-angle arm has a rotational degree of freedom; An N-stage telescopic assembly, one end of which is connected to the right-angle arm and the other end is equipped with a swing oil cylinder; N is a natural number; A connecting plate, connected to the output end of the swing oil cylinder; wherein, the N-stage telescopic assembly includes: N groups of telescopic arms, and a driving assembly drivingly connected to the N groups of telescopic arms; the driving assembly controls the N groups of telescopic arms to telescopically move synchronously.
2. The large-load telescopic arm for a shield machine cutter-changing robot according to claim 1, characterized in that, The value of N is 4, which is a four-stage telescopic assembly; the four-stage telescopic assembly at least includes: a first-stage telescopic arm connected to the right-angle arm. Define the width direction of the right-angle arm as the X-axis direction, the thickness direction as the Y-axis direction, and the length direction as the Z-axis direction; It further includes: a second-stage telescopic arm slidably connected to the first-stage telescopic arm along the Z-axis direction, a third-stage telescopic arm drivingly connected to the second-stage telescopic arm along the Z-axis direction, and a fourth-stage telescopic arm slidably connected to the third-stage telescopic arm along the Z-axis direction; the fourth-stage telescopic arm is arranged to install the swing oil cylinder; Mutually independent first-stage steel wire ropes and second-stage steel wire ropes are both drivingly connected to the first-stage telescopic arm, the second-stage telescopic arm, and the third-stage telescopic arm in sequence; Mutually independent third-stage steel wire ropes and fourth-stage steel wire ropes are both drivingly connected to the second-stage telescopic arm, the third-stage telescopic arm, and the fourth-stage telescopic arm in sequence.
3. The large-load telescopic arm for a shield machine tool-changing robot according to claim 2, characterized in that: A boss is provided at the top of the first-stage telescopic arm. Two groups of wire rope pads are symmetrically arranged on the boss along the X-axis direction. Each group of wire rope pads is configured with an external fixed ear in the Z-axis direction, and an ear hole is provided on the external fixed ear; An external fixed ear hole 1 is symmetrically opened on the boss along the Y-axis direction.
4. The large-load telescopic arm for a shield machine cutter-changing robot according to claim 2, characterized in that, Two groups of guide pulleys 1 are symmetrically installed at the bottom of the second-stage telescopic arm along the X-axis direction; Two groups of guide pulleys 2 and external fixed ear holes 2 are symmetrically arranged on the top boss along the Y-axis direction, and an internal fixed ear hole 1 is symmetrically opened along the X-axis direction; 5. The large-load telescopic arm for a shield machine tool-changing robot according to claim 2, characterized in that, Two groups of guide pulleys 3 are symmetrically installed on the top boss of the third-stage telescopic arm along the Y-axis direction; Two groups of guide pulleys 4 and internal fixed ear holes 2 are symmetrically installed at the bottom of the third-stage telescopic arm along the X-axis direction, and external fixed ear holes 3 are symmetrically arranged along the Y-axis direction.
6. The large-load telescopic arm for a shield machine tool-changing robot according to claim 2, characterized in that, Two groups of guide pads and two groups of internal fixing plates 1 are symmetrically installed at the bottom of the fourth-stage telescopic arm along the Y-axis direction, and two groups of internal fixing plates 2 are symmetrically installed along the X-axis direction.
7. The large-load telescopic arm for a shield machine cutter-changing robot according to claim 2, characterized in that, The sliding guiding between the outer surface and the inner surface of adjacent telescopic arms is realized through a slide rail and a slide groove.
8. The large-load telescopic arm for a shield machine tool-changing robot according to claim 2, characterized in that, The first-stage telescopic arm, the second-stage telescopic arm, the third-stage telescopic arm, and the fourth-stage telescopic arm are all welded by steel plates and have a hollow structure inside.
9. The large-load telescopic arm for a shield machine cutter-changing robot according to claim 2, characterized in that, An oil cylinder fixed seat is provided at the bottom of the first-stage telescopic arm, and a driving oil cylinder is installed on the oil cylinder fixed seat.