Tool changing robot

Abstract

The utility model provides a tool changing robot, and belongs to the field of tunneling equipment. The tool changing robot comprises a mechanical arm and an actuator, a moving structure used for controlling the actuator to move linearly so as to disassemble and assemble a hob is arranged between the tail end of the mechanical arm and the actuator, the moving structure comprises a fixed body and a moving body in guide fit with the fixed body, the fixed body is arranged on the mechanical arm, and the moving body is arranged on the actuator. The fixed body is provided with a linear driving mechanism used for driving the actuator to linearly move, and the output end of the linear driving mechanism is fixedly connected with the movable body or the actuator. The moving structure for controlling the actuator to move linearly so as to disassemble and assemble the hobbing cutter is arranged between the tail end of the mechanical arm and the actuator, so that the mechanical arm is kept static in the hobbing cutter disassembling and assembling process, control is convenient, and the mechanical arm is prevented from shaking.

Description

Technical Field

[0001] This utility model belongs to the field of tunnel boring equipment, and in particular relates to a tool changing robot. Background Technology

[0002] During tunnel construction, worn cutterheads need to be inspected and replaced regularly. In the past, workers had to manually operate auxiliary tools to disassemble, assemble, and move the cutterheads, which was inefficient and could not guarantee the safety of personnel.

[0003] A Chinese invention patent with publication number CN109989763A and publication date of July 9, 2019, discloses a tool changing robot for tunnel boring machines (TBMs), which can replace workers in changing cutterheads. This TBM tool changing robot is installed inside the robot compartment of the TBM body and includes a base, a robotic arm connected to the base, and an actuator at the end of the robotic arm. A slide rail is installed inside the robot compartment, and the base is movably mounted on the slide rail. The robotic arm has multiple arm sections, with joints between adjacent arm sections, thereby utilizing multi-axis linkage to enable the robotic arm to operate flexibly in complex environments.

[0004] During the disassembly of the hobbing cutter, the bolts securing the cutter must first be loosened, then the cutter is clamped and pulled out from the rear of the cutter box. The installation of the hobbing cutter is the reverse process. The actuator has a gripping mechanism for holding the hobbing cutter and a tightening mechanism for tightening the bolts. During the removal or installation of the hobbing cutter, the actuator needs to grip the cutter and move it linearly within the cutter box. However, in some locations, the cutter box is deep and angled, such as the cutter box on the outer edge of the cutter disc. In these cases, the actuator needs to move a considerable distance linearly to insert or remove the hobbing cutter. During this process, the joints of the robotic arm need to coordinate to allow the actuator to move horizontally. However, controlling multiple joints in this way is difficult, and if the hydraulic cylinders driving some of the robotic arm's movements vibrate during operation, the robotic arm is prone to wobbling, causing the actuator to sway and collide with the inner wall of the cutter box, resulting in damage to the actuator. Utility Model Content

[0005] The purpose of this utility model is to provide a tool changing robot to solve the technical problems in the prior art, which require the coordinated linkage of various joints of the robotic arm to make the actuator translate, resulting in high control difficulty of the actuator translation, and the actuator is prone to swaying and colliding with the tool box when the hydraulic cylinder driving part of the robotic arm moves vibrates.

[0006] To achieve the above objectives, the technical solution of the tool-changing robot provided by this utility model is as follows:

[0007] A tool-changing robot includes a robotic arm and an actuator. A movable structure for controlling the linear movement of the actuator to install and remove a hob is provided between the end of the robotic arm and the actuator. The movable structure includes a fixed body and a movable body that guides and cooperates with the fixed body. The fixed body is mounted on the robotic arm, and the movable body is mounted on the actuator. A linear drive mechanism for driving the linear movement of the actuator is provided on the fixed body. The output end of the linear drive mechanism is fixedly connected to the movable body or the actuator.

[0008] As a further improvement, at least some joints of the robotic arm are provided with locking structures for locking the corresponding joints during the linear movement of the actuator controlled by the moving structure.

[0009] As a further improvement, the stationary body includes a protective cover, and the actuator can retract under the protective cover under the drive of the linear drive mechanism.

[0010] As a further improvement, the protective cover includes a top plate and side plates disposed below the opposite sides of the top plate. The movable body is disposed inside the protective cover, and the actuator can retract to the space between the top plate and the side plates under the drive of the linear drive mechanism.

[0011] As a further improvement, the inner side of both the top plate and the side plate is provided with at least one slide rail, the number of moving bodies is the same as the number of slide rails and they correspond one-to-one with the slide rails, and the moving bodies are provided with slide grooves for guiding and sliding with the slide rails.

[0012] As a further improvement, the fixed body is provided with at least two slide rails, the number of movable bodies is the same as the number of slide rails and they correspond one-to-one with the slide rails, and the movable bodies are provided with slide grooves for guiding and sliding with the slide rails.

[0013] As a further improvement, the linear drive mechanism includes a rotating component that is circumferentially rotated and axially and radially stopped on a fixed body, and a fixed component that is fixedly mounted on an actuator or moving body. The linear drive mechanism also includes a rotary drive device that is drively connected to the rotating component and drives the rotating component to rotate. One of the rotating component and the fixed component is a threaded rod, and the other is provided with a threaded hole that is threaded to the threaded rod.

[0014] As a further improvement, the rotary drive is an electric motor.

[0015] As a further improvement, the rotating component is a threaded rod, and a driven gear is provided at one axial end of the rotating component. A drive gear that meshes with the driven gear is provided on the output shaft of the rotary drive device. The rotary drive device and the rotating component are located on the same axial side as the driven gear and the drive gear.

[0016] As a further improvement, the linear drive mechanism includes a rotary drive device, a gear disposed on the output shaft of the rotary drive device, and a rack meshing with the gear, wherein one of the rack and the rotary drive device is disposed on a fixed body and the other is disposed on a moving body or actuator.

[0017] The beneficial effects are as follows: The tool changing robot provided by this utility model is an improvement on the existing technology. This tool changing robot has a movable structure between the end of the robotic arm and the actuator. This movable structure controls the linear movement of the actuator to perform the disassembly and assembly of the hobbing tool. Therefore, during this process, the robotic arm does not need to control the linear movement of the actuator; the robotic arm can remain stationary, reducing the difficulty of controlling the robotic arm and preventing the actuator from swaying and colliding with the tool box. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of Embodiment 1 of the tool-changing robot of this utility model;

[0019] Figure 2 This is a side view of Embodiment 1 of the tool-changing robot of this utility model;

[0020] Figure 3 This is a front view of Embodiment 1 of the tool-changing robot of this utility model;

[0021] Figure 4 This is a schematic diagram of the structure of the fixed body in Embodiment 1 of the tool-changing robot of this utility model;

[0022] Figure 5 This is a schematic diagram of the actuator in Embodiment 1 of the tool-changing robot of this utility model;

[0023] Figure 6 This is a state diagram illustrating the process of using the tool-changing robot in Embodiment 1 of this utility model;

[0024] Figure 7 This is a diagram showing the state of the actuator being located below the fixed body during use of Embodiment 1 of the tool-changing robot of this utility model;

[0025] Figure 8 This is a diagram showing the state of the actuator extending out of the fixed body during use of Embodiment 1 of the tool-changing robot of this utility model.

[0026] Explanation of reference numerals in the attached figures:

[0027] 1. Actuator; 101. Base; 102. Tool gripping mechanism; 103. Tightening mechanism; 104. Clearance groove; 2. Fixed body; 21. Top plate; 22. Side plate; 23. Rear end plate; 24. Reinforcing rib; 3. Moving body; 4. Slide rail; 5. Slide groove; 6. Rotary joint; 7. Threaded rod; 8. Fixture; 9. Motor; 10. Drive gear; 11. Driven gear; 12. Tool head; 13. Tool box. Detailed Implementation

[0028] The present invention will be further described in detail below with reference to the embodiments.

[0029] To address the problems in the prior art, the basic concept of this utility model is to set up a structure between the end of the robotic arm and the actuator to control the linear movement of the actuator for the installation and removal of the roller cutter, thereby keeping the robotic arm stationary during the installation and removal of the roller cutter, facilitating control and preventing the robotic arm from shaking.

[0030] Specific embodiment 1 of the tool-changing robot provided by this utility model:

[0031] A tool-changing robot, see appendix Figure 1 Appendix Figure 2 and appendix Figure 3 It includes a robotic arm, an actuator 1, and a movable structure disposed between the end of the robotic arm and the actuator 1.

[0032] The robotic arm has multiple arms, with joints between adjacent arms that allow relative movement between them. Through the coordination of these joints, the robotic arm can deliver the actuator 1 to the tool box 13 where a tool change is needed. The robotic arm is not shown in the figure and is existing technology, so it will not be described in detail here.

[0033] The actuator 1 includes a base 101 and a tool gripping mechanism 102, a tightening mechanism 103, and a camera, etc., which are mounted on the base 101. The actuator 1 is used to tighten bolts and grip the hob.

[0034] The moving structure includes a fixed body 2 and a moving body 3 that guides and cooperates with the fixed body 2. The fixed body 2 is mounted on the robotic arm, and the moving body 3 is mounted on the actuator 1. The fixed body 2 is provided with a linear drive mechanism for driving the actuator 1 to move linearly.

[0035] See appendix Figure 4 and attached Figure 5The fixed body 2 includes a top plate 21, side plates 22 disposed below the left and right sides of the top plate 21, and a rear end plate 23 disposed below the rear end of the top plate 21. The rear end plate 23 is connected to the robotic arm via a rotary joint 6, enabling the entire moving structure and the actuator 1 to rotate relative to the robotic arm. The rotary joint 6 is existing technology and will not be described in detail here. A reinforcing rib 24 is provided between the side plate 22 and the rear end plate 23, and the actuator 1 is provided with a clearance groove 104 to avoid interference by avoiding the reinforcing rib 24.

[0036] Both the top plate 21 and the side plates 22 are equipped with slide rails 4 on their inner sides. The top plate 21 has two slide rails 4, and the side plate 22 has one slide rail 4. The number of movable bodies 3 is the same as the number of slide rails 4, and they correspond one-to-one with each slide rail 4. The movable bodies 3 are provided with sliding grooves 5 for guiding and slidingly engaging with the slide rails 4. Each movable body 3 is fixedly connected to the base 101 of the actuator 1 by bolts, so that the actuator 1 can slide relative to the fixed body 2. Moreover, the actuator 1 can retract to the space between the top plate 21 and the two side plates 22 after sliding. The actuator 1 can also slide to extend its gripping mechanism 102 and its turning mechanism 103 forward out of the fixed body 2.

[0037] The linear drive mechanism includes a rotating component that rotates circumferentially and is axially and radially stopped on a fixed body 2, and a fixed component 8 that is fixedly mounted on an actuator 1. In one embodiment of this invention, the rotating component is a threaded rod 7, and the fixed component 8 is provided with a threaded hole that is threadedly engaged with the threaded rod 7.

[0038] The linear drive mechanism also includes a rotary drive device that is connected to the rotating component and is used to drive the rotating component to rotate. Specifically, the rotary drive device is a motor 9, on which a drive gear 10 is provided. A driven gear 11 is provided at one axial end of the threaded rod 7. The drive gear 10 and the driven gear 11 mesh. The motor 9 and the threaded rod 7 are both located on the same side of the drive gear 10 and the driven gear 11.

[0039] The motor 9 drives the threaded rod 7 to rotate. The engagement between the threaded rod 7 and the fixed body 2 converts the rotation of the threaded rod 7 into linear movement of the fixed body 2, thereby driving the actuator 1 to move linearly in the forward and backward direction. Using gears to transmit power between the motor 9 and the threaded rod 7 allows the motor 9 and the threaded rod 7 to be installed side-by-side, saving installation space. In other embodiments, the output shaft of the motor 9 can also be directly coaxially connected to the threaded rod 7.

[0040] In other embodiments, the rotating component can be a threaded sleeve, and the fixed component 8 can be a threaded rod 7. In this embodiment, the rotation drive device drives the threaded sleeve to rotate, and the rotation of the threaded sleeve can drive the threaded rod 7 to move.

[0041] During use, please refer to the appendix. Figure 6and attached Figure 7 First, the robotic arm delivers actuator 1 to the rear of the tool box 13 where the tool needs changing, aligning actuator 1 with tool box 13, and ensuring that the front end of the fixing body 2 abuts against the rear end face of tool box 13 or tool disc 12. (See appendix) Figure 8 Then, driven by the linear drive mechanism, actuator 1 moves forward, extends out of the fixed body 2, and enters the tool box 13. After inspecting and disassembling the hob, actuator 1 moves backward with the hob back to below the fixed body 2. The hob installation process is the reverse of the above process and will not be described again.

[0042] Since the actuator 1 only needs to use the linear drive mechanism in the moving structure to drive the linear movement of the actuator 1 during the process of removing or inserting the raceway from the tool box 13, the robotic arm can remain stationary, thus effectively reducing the control difficulty of the above process. Moreover, the stationary robotic arm avoids the phenomenon of swaying of the robotic arm caused by factors such as vibration during the operation of some hydraulic cylinders, thereby preventing the actuator 1 from wobbling and colliding with the tool box 13 during movement, and improving the stability of the tool changing process.

[0043] To further improve the stability of actuator 1 during tool changing, locking structures can be added to some or all joints of the robotic arm to lock the corresponding joints and prevent the robotic arm from shaking during tool changing. In joints of the robotic arm using motor 9 with motor 9 locks, the motor 9 lock constitutes the locking structure; while in joints of the robotic arm using motor 9 without motor 9 locks, a brake is required to keep the robotic arm in a fixed posture even after the motor 9 is de-energized, in which case the brake constitutes the locking structure.

[0044] When the actuator 1 of the tool changing robot passes through the soil chamber, the actuator 1 needs to be retracted under the fixed body 2 to avoid falling soil from the soil chamber hitting the actuator 1. Therefore, the part of the fixed body 2 used to cover the actuator 1, namely the top plate 21 and the side plates 22 on the left and right sides of the fixed body 2, constitute a protective cover.

[0045] In this embodiment, to save space inside the fixed body 2, the threaded rod 7 and the motor 9 are placed on the outside of the fixed body 2. Therefore, a cover is also needed on the outside of the fixed body 2 to cover the threaded rod 7, the motor 9, and the valve installed on the fixed body 2 to protect the above structures.

[0046] In this embodiment, four slide rails 4 are provided, which can enhance the stability of the actuator 1 during movement. In other embodiments, one, two, or three slide rails 4 may also be provided.

[0047] In this embodiment, the rotary drive device is a motor 9, which is convenient for control. In other embodiments, the rotary drive device can also be a hydraulic motor.

[0048] Specific embodiment 2 of the tool-changing robot provided by this utility model:

[0049] This embodiment is based on Embodiment 1, but differs in that only one moving body is provided in this embodiment. This moving body is a slider disposed inside the fixed body. The slider is fixedly connected to the rear side of the actuator base. Slide grooves for sliding cooperation with the guide rail are provided on the left, right, and upper sides of the slider. In this embodiment, the fixing member is fixedly connected to the moving body.

[0050] Specific embodiment 3 of the tool-changing robot provided by this utility model:

[0051] This embodiment is based on Embodiment 1, but differs in that the linear drive mechanism in this embodiment includes a rotary drive device, a gear mounted on the output shaft of the rotary drive device, and a rack meshing with the gear. The rack is fixedly mounted on a fixed body, while the rotary drive device is fixedly mounted on the base of the actuator. When the rotary drive device drives the gear to rotate, it will drive the actuator to move linearly.

[0052] In other embodiments of this example, the rack may also be fixedly mounted on the base of the actuator, while the rotary drive device may be fixedly mounted on the fixed body.

[0053] Specific embodiment 4 of the tool-changing robot provided by this utility model:

[0054] This embodiment is based on Embodiment 1, but differs in that the linear drive mechanism in this embodiment is an electric actuator. In other embodiments of this embodiment, the linear drive mechanism may also be a pneumatic cylinder or a hydraulic cylinder.

[0055] Specific embodiment 5 of the tool-changing robot provided by this utility model:

[0056] This embodiment is based on Embodiment 1. The difference between this embodiment and Embodiment 1 is that the fixing body in this embodiment also includes a base plate, which is fixedly connected to the bottom of the side plate. In this way, the fixing body forms a rectangular cylindrical structure surrounded by the top plate, the base plate and the side plate. The size of the actuator is smaller than the inner size of the fixing body, so that the actuator can be completely retracted into the fixing body.

[0057] In this embodiment, a slide rail can still be provided on the inner side of the fixed body, and a slide groove that slides and guides the slide rail can be provided on the moving body.

[0058] In other embodiments, a slide rail may not be provided within the fixed body. In this embodiment, there is only one moving body, which is a slider. The size of the slider is adapted to the internal dimensions of the fixed body, allowing the slider to slide guided within the fixed body. The slider is fixedly connected to the rear side of the actuator's base. In this embodiment, to facilitate control of the actuator's movement, an elongated hole is provided on the side plate of the fixed body, allowing the fixing component in the linear drive mechanism to pass through the side plate of the fixed body from the outside to the inside and be fixedly connected to the slider.

[0059] Specific embodiment 6 of the tool-changing robot provided by this utility model:

[0060] This embodiment is based on Embodiment 1. The difference between this embodiment and Embodiment 1 is that the fixing body in this embodiment only includes a rear end plate and a top plate. The top plate constitutes a protective cover, and the slide rail is set on the lower side of the top plate.

[0061] Specific embodiment 7 of the tool-changing robot provided by this utility model:

[0062] This embodiment is based on Embodiment 1. The difference between this embodiment and Embodiment 1 is that the fixed body in this embodiment does not have a protective cover. If the actuator needs to be protected, a protective plate can be installed on the upper side of the actuator's base.

[0063] The fixed body structure in this embodiment is simple, including a rear end plate and two guide rods arranged left and right on the front side of the rear end plate. Sliding sleeves are sleeved on the guide rods, and the sliding sleeves constitute the moving body. The sliding sleeves are fixedly connected to the base of the actuator.

[0064] In this embodiment, the linear drive mechanism is a hydraulic cylinder, which is located between the rear end plate and the base of the actuator, and between the two guide rods.

[0065] Finally, it should be noted that the above description is only a preferred embodiment of this utility model and is not intended to limit this utility model. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still make modifications to the technical solutions described in the foregoing embodiments without creative effort, or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A tool-changing robot, comprising a robotic arm and an actuator, characterized in that, The end effector of the robotic arm is provided with a moving structure for controlling the linear movement of the actuator to install and remove the hobbing cutter. The moving structure includes a fixed body and a moving body that guides and cooperates with the fixed body. The fixed body is set on the robotic arm, and the moving body is set on the actuator. The fixed body is provided with a linear drive mechanism for driving the linear movement of the actuator. The output end of the linear drive mechanism is fixedly connected to the moving body or the actuator.

2. The tool-changing robot according to claim 1, characterized in that, At least some joints of the robotic arm are provided with locking structures for locking the corresponding joints during the linear movement of the actuator controlled by the moving structure.

3. The tool-changing robot according to claim 1 or 2, characterized in that, The stationary body includes a protective cover, and the actuator can retract to below the protective cover under the drive of the linear drive mechanism.

4. The tool-changing robot according to claim 3, characterized in that, The protective cover includes a top plate and side plates located on opposite sides below the top plate. The movable body is located inside the protective cover, and the actuator can retract to the space between the top plate and the side plates under the drive of the linear drive mechanism.

5. The tool-changing robot according to claim 4, characterized in that, The inner side of the top plate and the side plate is provided with at least one slide rail. The number of moving bodies is the same as the number of slide rails and they correspond one-to-one with the slide rails. The moving bodies are provided with slide grooves for guiding and sliding with the slide rails.

6. The tool-changing robot according to claim 1 or 2, characterized in that, The fixed body is provided with at least two slide rails, and the number of movable bodies is the same as that of the slide rails and they correspond one-to-one with the slide rails. The movable bodies are provided with slide grooves for guiding and sliding with the slide rails.

7. The tool-changing robot according to claim 1 or 2, characterized in that, The linear drive mechanism includes a rotating component that is circumferentially rotated and axially and radially stopped on a fixed body, and a fixed component that is fixedly mounted on an actuator or moving body. The linear drive mechanism also includes a rotary drive device that is connected to the rotating component and drives the rotating component to rotate. One of the rotating component and the fixed component is a threaded rod, and the other has a threaded hole that is threaded to engage with the threaded rod.

8. The tool-changing robot according to claim 7, characterized in that, The rotary drive is an electric motor.

9. The tool-changing robot according to claim 7, characterized in that, The rotating component is a threaded rod, and a driven gear is provided at one axial end of the rotating component. A drive gear that meshes with the driven gear is provided on the output shaft of the rotary drive device. The rotary drive device and the rotating component are located on the same axial side as the driven gear and the drive gear.

10. The tool-changing robot according to claim 1 or 2, characterized in that, The linear drive mechanism includes a rotary drive device, a gear mounted on the output shaft of the rotary drive device, and a rack meshing with the gear. One of the rack and the rotary drive device is mounted on a fixed body, and the other is mounted on a moving body or actuator.

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